Driving mechanism and natural orifice robot

Abstract

The utility model provides a kind of driving mechanism and natural cavity robot, wherein driving mechanism includes: first fixed frame body, second fixed frame body on the first fixed frame body sliding, first power structure being connected with second fixed frame body, second power structure being arranged on second fixed frame body, third fixed frame body being connected with second power structure, third power structure being arranged on third fixed frame body, tensioning structure being arranged on third fixed frame body and being transmission connection with third power structure;First power structure is used to drive second fixed frame body reciprocating movement along preset direction;Second power structure is used to drive third fixed frame body rotates around first rotation axis, and first rotation axis is parallel to preset direction;Third power structure is used to drive tensioning structure rotates around shaft, so that tensioning structure retraction drive line drives.Driving mechanism includes multiple fixed frame body and power structure, is responsible for the movement and rotation of different direction respectively, it has the advantages of flexible control, high precision.

Description

Technical Field

[0001] This utility model relates to the technical field of natural cavity robots, and more specifically, to a drive mechanism and a natural cavity robot. Background Technology

[0002] In recent years, with the rapid development of minimally invasive surgical techniques, natural orifice surgical robots, as an emerging technology, are gradually becoming a research hotspot in the field of surgery. Natural orifice surgical robots are techniques that allow surgical procedures to be performed using microsurgical instruments inside the body through natural orifices (such as the mouth, anus, and vagina). Compared with traditional laparoscopic surgery, natural orifice surgical robots offer advantages such as less trauma, less pain, faster recovery, and no visible scars, representing the future direction of minimally invasive surgery.

[0003] Existing drive units for powering the manipulator arms in natural cavity surgical robots suffer from the following drawbacks: Drive units often employ rigid transmission structures or centralized hydraulic drive schemes. While these can achieve basic operational functions, they still have significant limitations in clinical applications. Particularly in multi-degree-of-freedom motion control within narrow cavities, traditional drive units generally suffer from insufficient motion flexibility, and their transmission mechanisms struggle to adapt to the nonlinear path requirements of complex anatomical structures. Furthermore, existing drive systems suffer from low positioning accuracy of the end effector due to factors such as excessively long transmission chains and cable friction losses. Moreover, accuracy degradation is prone to occur during prolonged operation, adversely affecting the clinical outcomes of critical surgical steps such as delicate tissue dissection and vascular anastomosis. Utility Model Content

[0004] The purpose of this invention is to provide a drive mechanism and a natural cavity robot to solve the technical problems of insufficient drive unit flexibility and low positioning accuracy in the prior art.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] Firstly, a driving mechanism is provided, comprising:

[0007] A first fixed frame, a second fixed frame sliding on the first fixed frame, a first power structure connected to the second fixed frame, a second power structure disposed on the second fixed frame, a third fixed frame connected to the second power structure, a third power structure disposed on the third fixed frame, and a tensioning structure disposed on the third fixed frame and drivenly connected to the third power structure for winding the drive line.

[0008] The first power structure is used to drive the second fixed frame to reciprocate along a preset direction; the second power structure is used to drive the third fixed frame to rotate around a first rotating axis, the first rotating axis being parallel to the preset direction; the third power structure is used to drive the tensioning structure to rotate around an axis, causing the tensioning structure to retract and extend the drive line.

[0009] By adopting the above technical solution, the drive mechanism is used to drive the flexible manipulator in a natural cavity robot. The drive mechanism includes multiple fixed frames and a power structure, which are responsible for movement and rotation in different directions, respectively. There is also a tensioning structure to control the extension and retraction of the drive cable. It has the advantages of flexible control and high precision.

[0010] First, the drive mechanism has a layered structure: a first fixed frame, a second fixed frame, and a third fixed frame, each with a corresponding power structure. The first power structure controls the second frame to move along a preset direction, the second power structure controls the third frame to rotate around an axis parallel to the preset direction, and the third power structure controls the tensioning structure to rotate around the axis, thus winding and unwinding the drive cable. This layered structure provides multi-degree-of-freedom motion capabilities, enhancing control flexibility.

[0011] Then, the design of the tensioning structure can ensure the tension of the drive cable, preventing slack and thus improving control precision. Simultaneously, the third power structure directly drives the tensioning structure, potentially reducing energy loss during transmission and improving efficiency.

[0012] Furthermore, each power structure employs a modular design, such as using a motor structure, which facilitates maintenance and replacement, and also enhances the system's stability and reliability. The design of slide rails and sliding connections may result in smoother movement, reduced friction and wear, and extended service life.

[0013] In one embodiment, there are two second fixed frames, which are arranged in parallel and spaced apart and respectively connected to the corresponding first power structure. Each second fixed frame is provided with the second power structure.

[0014] By adopting the above technical solution, the driving mechanism of this embodiment can simultaneously drive two flexible operating mechanisms to operate.

[0015] In one embodiment, the third fixed frame is provided with four third power structures and four tensioning structures, and the four third power structures are arranged symmetrically in pairs based on the first rotation axis.

[0016] By adopting the above technical solutions, the number of operable structures in the drive mechanism is increased, further enhancing control flexibility, while also making the drive mechanism more integrated and miniaturized.

[0017] In one embodiment, the tensioning structure is a tensioning ring, the tensioning ring is surrounded by the drive line, and the third fixing frame is provided with a conduit spaced apart from the tensioning ring, the axis of the conduit being located on the extension line of the tangent of the tensioning ring.

[0018] By adopting the above technical solution, the conduit can extend to the flexible operating mechanism, so that the drive line can be passed through the conduit and connected to the flexible operating mechanism as the conduit extends to the flexible operating mechanism. The drive line can extend and retract in the conduit to control the flexible operating mechanism.

[0019] In one embodiment, the third fixed frame is provided with a second rotating shaft perpendicular to the first rotating shaft, and the tensioning ring is connected to the second rotating shaft and can rotate around the second rotating shaft.

[0020] By adopting the above technical solution, the tensioning ring can retract and extend the drive line.

[0021] In one embodiment, a worm gear is coaxially mounted on the second rotating shaft, and the power output shaft of the third power structure is provided with a worm that cooperates with the worm gear.

[0022] By adopting the above technical solution, the transmission connection between the second rotating shaft and the third power structure is highly reliable.

[0023] In one embodiment, the first fixing frame is provided with a connector for connecting the elastic tube, and a plurality of the conduits pass through the connector and extend into the elastic tube.

[0024] By adopting the above technical solution, multiple conduits can be aggregated into a flexible tube through a connector, which helps to improve the integration of multiple conduits in the flexible tube.

[0025] In one embodiment, the first power structure and the second power structure are arranged parallel to each other at intervals; and / or, the second power structure and the third power structure are located on both sides of the tensioning structure.

[0026] By adopting the above technical solutions, the layout of multiple power structures is made reasonable, and the drive structure is miniaturized.

[0027] In one embodiment, the first power structure and the second power structure are motor structures.

[0028] By adopting the above technical solution, it is beneficial to achieve electric control of the drive mechanism.

[0029] Secondly, a natural cavity robot is provided, comprising a trolley body, a boom, an insertion tube mechanism, a flexible manipulation mechanism, and the aforementioned drive mechanism, wherein the boom connects the trolley body and the drive mechanism, and the insertion tube mechanism connects the drive mechanism and the flexible manipulation mechanism.

[0030] By adopting the above technical solution, the natural cavity robot of this embodiment has the advantages of high operational flexibility in addition to the advantages of the drive mechanism of the above embodiments. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a three-dimensional structural diagram of the natural cavity robot provided in this embodiment of the utility model.

[0033] Figure 2 This is a three-dimensional structural diagram of the driving mechanism provided in an embodiment of the present invention, wherein the housing portion is hidden in the diagram.

[0034] Figure 3 This is a bottom view of the drive mechanism provided in an embodiment of the present invention, wherein the housing portion is hidden in the figure.

[0035] Figure 4 This is a left view of the drive mechanism provided in an embodiment of the present invention, wherein the housing portion is hidden in the figure.

[0036] Figure 5 yes Figure 2 Enlarged view of section "A" in the image.

[0037] The labels for the attached figures are as follows:

[0038] 100. Natural cavity robot;

[0039] 30. Drive mechanism; 10. Trolley body; 20. Boom; 40. Insertion tube mechanism; 50. Flexible operating mechanism;

[0040] 301. First fixed frame; 302. Second fixed frame; 303. First power structure; 304. Second power structure; 305. Third fixed frame; 306. Third power structure; 307. Tensioning structure; 60. Drive line; 308. Worm gear; 309. Worm; 310. Sensor;

[0041] 3051, conduit; 3011, connector; 3012, flexible tube. Detailed Implementation

[0042] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0043] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be located directly on or indirectly on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component.

[0044] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or the number of technical features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. The specific implementation of this utility model is described in more detail below with reference to specific embodiments:

[0046] like Figure 1 and Figure 2 As shown in the figure, a drive mechanism 30 provided in this embodiment of the present invention is applied in a natural cavity robot 100, which is used to drive the flexible manipulator 50 to operate. The drive mechanism 30 provided in this embodiment has high control flexibility and high precision. The following is a detailed description of the specific implementation method:

[0047] The drive mechanism 30 includes:

[0048] A first fixed frame 301, a second fixed frame 302 slidably mounted on the first fixed frame 301, a first power structure 303 connected to the second fixed frame 302, a second power structure 304 mounted on the second fixed frame 302, a third fixed frame 305 connected to the second power structure 304, a third power structure 306 mounted on the third fixed frame 305, and a tensioning structure 307 mounted on the third fixed frame 305 and connected to the third power structure 306 for winding the drive line 60;

[0049] The first power structure 303 is used to drive the second fixed frame 302 to reciprocate along a preset direction; the second power structure 304 is used to drive the third fixed frame 305 to rotate around the first rotating shaft, which is parallel to the preset direction; the third power structure 306 is used to drive the tensioning structure 307 to rotate around the shaft, so that the tensioning structure 307 can retract and extend the drive line 60.

[0050] Specifically, the first fixed frame 301 refers to the frame used to fix and connect to the boom of the natural cavity robot 100. The boom is connected to the trolley body of the natural cavity robot 100, so that the drive mechanism 30 is at a preset height.

[0051] The second fixed frame 302 refers to the frame that is slidably mounted on the first fixed frame 301. The first fixed frame 301 is provided with a slide rail parallel to a preset direction. The second fixed frame 302 is slidably connected to the slide rail and can move along the length of the slide rail.

[0052] The first power structure 303 refers to a component used to provide power for the movement of the second fixed frame 302; the first power structure 303 includes, but is not limited to, a motor structure; the first power structure 303 is connected to the second fixed frame 302 and is used to drive the second fixed frame 302 to move along a preset direction on the first fixed frame 301. It should be further explained that the preset direction refers to the forward and backward directions of the second fixed frame 302.

[0053] The second power structure 304 refers to a component used to provide rotational force to the third fixed frame 305; the second power structure 304 includes, but is not limited to, a motor structure; the second power structure 304 defines a first rotating shaft, and the second power structure 304 can drive the third fixed frame 305 to rotate around the first rotating shaft, the first rotating shaft being set parallel to a preset direction.

[0054] The third fixed frame 305 refers to the frame used to set the tensioning structure 307 and drive the tensioning structure 307 to rotate around the first rotating axis.

[0055] The tensioning structure 307 is a structure used to wind the drive line 60 and make the drive line 60 taut; the third power structure 306 is used to drive the tensioning structure 307 to rotate around the axis, so that the tensioning structure 307 can retract or extend the drive line 60.

[0056] By adopting the above technical solution, the drive mechanism 30 is used to drive the flexible manipulation mechanism 50 in the natural cavity robot 100. The drive mechanism 30 includes multiple fixed frames and power structures, which are responsible for movement and rotation in different directions, respectively. A tensioning structure 307 controls the extension and retraction of the drive line 60, offering advantages such as flexible control and high precision. Firstly, the drive mechanism 30 has a layered structure: a first fixed frame 301, a second fixed frame 302, and a third fixed frame 305, each with a corresponding power structure. The first power structure 303 controls the second frame to move along a preset direction, the second power structure 304 controls the third frame to rotate around an axis parallel to the preset direction, and the third power structure 306 controls the tensioning structure 307 to rotate around an axis, extending and retracting the drive line 60. This layered structure provides multi-degree-of-freedom motion capabilities, enhancing control flexibility.

[0057] Then, the design of the tensioning structure 307 may ensure the tension of the drive line 60, preventing slack and thus improving control accuracy. Meanwhile, the third power structure 306 directly drives the tensioning structure 307, potentially reducing energy loss during transmission and improving efficiency.

[0058] Furthermore, each power structure employs a modular design, such as using a motor structure, which facilitates maintenance and replacement, and also enhances the system's stability and reliability. The design of slide rails and sliding connections may result in smoother movement, reduced friction and wear, and extended service life.

[0059] like Figure 3 As shown, in one embodiment, there are two second fixing frames 302. The two second fixing frames 302 are arranged in parallel and spaced apart and are respectively connected to the corresponding first power structure 303. Each second fixing frame 302 is provided with a second power structure 304.

[0060] Specifically, the number of the second fixed frame 302, the first power structure 303, the second power structure 304, and the third fixed frame 305 are in a one-to-one correspondence.

[0061] By adopting the above technical solution, the drive mechanism 30 of this embodiment can simultaneously drive two flexible operating mechanisms 50 to operate.

[0062] Please refer to the following: Figure 4 In one embodiment, the third fixed frame 305 is provided with four third power structures 306 and four tensioning structures 307, and the four third power structures 306 are arranged symmetrically in pairs based on the first rotation axis.

[0063] Specifically, each third power structure 306 is used to drive one operating structure on the flexible operating mechanism 50 to operate, and the four third power structures 306 are respectively used to drive the four operating structures on the flexible operating mechanism 50 to operate.

[0064] In addition, the four third power structures 306 are arranged symmetrically in pairs based on the first rotating shaft, which makes the drive mechanism 30 more integrated and smaller in size.

[0065] By adopting the above technical solution, the number of operable structures of the drive mechanism 30 is increased, further enhancing control flexibility, while making the drive mechanism 30 more integrated and miniaturized.

[0066] In addition, the four third power structures 306, one first power structure 303 and one second power structure 304 form a six-axis motion mechanism, which improves the flexibility of the flexible operating mechanism 50 in multiple degrees of freedom such as deflection, extension and rotation, and enhances the operability of the flexible operating mechanism 50.

[0067] It needs to be further explained that by setting up four symmetrically distributed third power structures 306, in conjunction with the layout design of the tensioning structure 307, the drive mechanism 30 achieves independent and precise drive of the four operating structures in the flexible operating mechanism 50, raising the number of operable structures to the level of multi-axis collaborative control, and significantly enhancing the control flexibility and coordination of complex movements during surgery.

[0068] By constructing a composite motion system with six independent drive axes using four third power structures 306, the first power structure 303, and the second power structure 304, the flexible operating mechanism 50 can simultaneously achieve multi-degree-of-freedom composite motions such as deflection, extension, and rotation in three-dimensional space, thereby improving the flexibility of the flexible operating mechanism 50. Please refer to the following: Figure 5 In one embodiment, the tensioning structure 307 is a tensioning ring, around which a drive line 60 is provided. The third fixing frame 305 is provided with a conduit 3051 spaced apart from the tensioning ring, and the axis of the conduit 3051 is located on the extension line of the tangent of the tensioning ring.

[0069] Specifically, the drive wire 60 is threaded through the conduit 3051, which is fixedly mounted on the third fixed frame 305. The conduit 3051 is spaced apart from the tension ring, so that the drive wire 60 can be wound around the tension ring while threaded through the conduit 3051.

[0070] By adopting the above technical solution, the conduit 3051 can extend to the flexible operating mechanism 50, allowing the drive line 60 to pass through the conduit 3051 and connect to the flexible operating mechanism 50 as the conduit 3051 extends. The drive line 60 can extend and retract within the conduit 3051 to control the flexible operating mechanism 50. In one embodiment, the third fixed frame 305 is provided with a second rotating shaft perpendicular to the first rotating shaft, and the tensioning ring is connected to the second rotating shaft and can rotate around the second rotating shaft.

[0071] Specifically, the second rotating shaft is set perpendicular to the first rotating shaft. When the tensioning ring is connected to the second rotating shaft and can rotate around the second rotating shaft, the outer circumferential tangential direction of the tensioning ring can be just perpendicular to the first rotating shaft, which is beneficial for the tensioning ring to retract and extend the drive line 60.

[0072] By adopting the above technical solution, the tensioning ring can retract and extend the drive line 60.

[0073] In one embodiment, a worm gear 308 is coaxially mounted on the second rotating shaft, and a worm 309 that cooperates with the worm gear 308 is mounted on the power output shaft of the third power structure 306.

[0074] Specifically, the worm gear 308 has multiple teeth in its circumferential direction, and the worm 309 has a thread that extends spirally along its own axis. In this way, the teeth and the thread mesh with each other, and the power output shaft of the third power structure 306 drives the worm 309 to rotate, which in turn drives the worm gear 308 to rotate, thereby driving the second rotating shaft and the tensioning ring to rotate, and finally causing the tensioning ring to retract and extend the drive line 60.

[0075] By adopting the above technical solution, the transmission connection between the second rotating shaft and the third power structure 306 is highly reliable.

[0076] Please refer to it again. Figure 2 In one embodiment, the first fixed frame 301 is provided with a connector 3011 for connecting the elastic tube 3012, and a plurality of conduits 3051 pass through the connector 3011 and extend into the elastic tube 3012.

[0077] Specifically, in this embodiment, the connector 3011 is a horn-shaped conduit structure. The connector 3011 is used to gather multiple conduits 3051 and allow the multiple conduits 3051 to be inserted into the elastic tube 3012.

[0078] By adopting the above technical solution, multiple conduits 3051 can be collected into the elastic tube 3012 through the connector 3011, which helps to improve the integration of multiple conduits 3051 in the elastic tube 3012.

[0079] It needs to be further explained that the first power structure 303 is used to drive the second fixed frame 302 to move so as to drive the conduit 3051 to extend and retract in the elastic tube 3012, so that the flexible operating mechanism 50 can extend and retract relative to the elastic tube 3012, thereby improving the operability of the flexible operating mechanism 50.

[0080] The second power structure 304 drives the third fixed frame 305 to rotate around its axis, thereby driving the conduit 3051 to rotate around its own axis, which in turn causes the flexible operating mechanism 50 to rotate around its own axis, improving the operability of the flexible operating mechanism 50. The third power structure 306 drives the tensioning structure 307 to retract the drive line 60, enabling the flexible operating mechanism to deflect at multiple angles and in multiple directions, further improving the operability of the flexible operating mechanism 50.

[0081] In one embodiment, the first power structure 303 and the second power structure 304 are arranged in parallel and spaced apart; in other embodiments, the second power structure 304 and the third power structure 306 are located on both sides of the tensioning structure 307.

[0082] By adopting the above technical solutions, the layout of multiple power structures is made reasonable, and the drive structure is miniaturized.

[0083] In one embodiment, the first power structure 303 and the second power structure 304 are motor structures.

[0084] By adopting the above technical solution, the drive mechanism 30 can be electrically controlled.

[0085] In one embodiment, the second power structure 304 is provided with a sensor 310 for sensing the position of the third fixed frame 305; the sensor 310 can obtain whether the third fixed frame 305 is in the initial position to output position information, which is beneficial for the operator to obtain the position information of the flexible operating mechanism 50.

[0086] Please refer to it again. Figure 1 Secondly, a natural cavity robot 100 is provided, including a trolley body 10, a boom 20, an insertion tube mechanism 40, a flexible operating mechanism 50 and the aforementioned drive mechanism 30. The boom 20 connects the trolley body 10 and the drive mechanism 30, and the insertion tube mechanism 40 connects the drive mechanism 30 and the flexible operating mechanism 50.

[0087] By adopting the above technical solution, the natural cavity robot 100 of this embodiment has the advantages of high operational flexibility in addition to the advantages of the drive mechanism 30 of the above embodiment.

[0088] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A driving mechanism, characterized in that, include: A first fixed frame, a second fixed frame sliding on the first fixed frame, a first power structure connected to the second fixed frame, a second power structure disposed on the second fixed frame, a third fixed frame connected to the second power structure, a third power structure disposed on the third fixed frame, and a tensioning structure disposed on the third fixed frame and drivenly connected to the third power structure for winding the drive line. The first power structure is used to drive the second fixed frame to move back and forth along a preset direction; The second power structure is used to drive the third fixed frame to rotate around the first rotation axis, which is parallel to a preset direction; The third power structure is used to drive the tensioning structure to rotate around the axis, so that the tensioning structure can retract and extend the drive line.

2. The driving mechanism as described in claim 1, characterized in that, There are two second fixed frames, which are arranged in parallel and spaced apart and are respectively connected to the corresponding first power structure. Each second fixed frame is provided with the second power structure.

3. The driving mechanism as described in claim 2, characterized in that, The third fixed frame is provided with four third power structures and four tensioning structures, and the four third power structures are arranged symmetrically in pairs based on the first rotation axis.

4. The driving mechanism as described in claim 1, characterized in that, The tensioning structure is a tensioning ring, around which the drive line is arranged. The third fixed frame is provided with a conduit spaced apart from the tensioning ring, and the axis of the conduit is located on the extension line of the tangent of the tensioning ring.

5. The driving mechanism as described in claim 4, characterized in that, The third fixed frame is provided with a second rotating shaft perpendicular to the first rotating shaft, and the tensioning ring is connected to the second rotating shaft and can rotate around the second rotating shaft.

6. The driving mechanism as described in claim 5, characterized in that, A worm gear is coaxially mounted on the second rotating shaft, and a worm gear that cooperates with the worm gear is mounted on the power output shaft of the third power structure.

7. The driving mechanism as described in claim 4, characterized in that, The first fixed frame is provided with a connector for connecting the elastic tube, and a plurality of the tubes are inserted through the connector and extend into the elastic tube.

8. The drive mechanism according to any one of claims 1 to 6, characterized in that, The first power structure and the second power structure are arranged parallel to each other at intervals; and / or, the second power structure and the third power structure are respectively located on both sides of the tensioning structure.

9. The drive mechanism according to any one of claims 1 to 6, characterized in that, The first power structure and the second power structure are motor structures.

10. A natural cavity robot, characterized in that, It includes a trolley body, a boom, an insertion tube mechanism, a flexible operating mechanism, and a drive mechanism as described in any one of claims 1 to 9, wherein the boom connects the trolley body and the drive mechanism, and the insertion tube mechanism connects the drive mechanism and the flexible operating mechanism.

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