A multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery

Abstract

This utility model belongs to the field of medical device technology, specifically a multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery. It includes a transmission joint, a support arm, and a drive mechanism. The transmission joint comprises a support rod, a ball joint head, vertical toothed grooves, and horizontal toothed grooves. Ball joint heads are respectively provided at both ends of the support rod, and vertical and horizontal toothed grooves are respectively provided on the outer sides of the ball joint heads on both sides. The support arm is connected to the outer sides of the ball joint heads on both sides. The support arm includes a housing and a support baffle, with the support baffle provided on the inner wall of the housing. The ball joint head is connected between the two support arms. A drive mechanism is provided on the inner side of the support arm. One drive mechanism drives the transmission joint to move vertically, and the other drive mechanism drives the transmission joint to move laterally, increasing the joint's degrees of freedom. The use of an internal drive mechanism avoids dust accumulation in the connection gaps of external drive mechanisms and prevents lubricating oil contamination from affecting medical hygiene.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to a multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery. Background Technology

[0002] With the advancement of medical technology, minimally invasive surgery has gained increasingly widespread application in clinical treatment due to its advantages of less trauma, less pain, and faster recovery. In applications such as laparoscopy and thoracoscopy, specialized robotic arms for minimally invasive surgery, such as laparoscopic forceps, have become essential tools for performing the surgery.

[0003] During various laparoscopic surgeries, surgical instruments can only be inserted into the patient's body through a tiny incision of about 1 centimeter to perform complex surgical actions such as exploration, cutting, hemostasis, and suturing. This places high demands on the degree of freedom of the robotic arm. Currently, cutting-edge minimally invasive surgical systems, represented by the da Vinci Surgical System, offer high precision, efficiency, and powerful functionality, providing a positive user experience for both doctors and patients. However, their complex structure, high cost, large size, and demanding usage and maintenance requirements hinder rapid widespread adoption, and their price remains prohibitive for patients with limited financial means.

[0004] Therefore, various minimally invasive surgical robotic arms have become the most convenient option for minimally invasive surgery. Currently, the basic structure of a minimally invasive surgical robotic arm includes a blade, a blade joint assembly, an arm component, and a handle. The blade and handle are respectively installed at both ends of the arm component. The arm component contains a control cable, and a cable joint assembly is located at the end near the handle to control the movement of the blade joint at the other end via the handle.

[0005] Existing joint positions use single-axis connections, and each joint inflection point can only move in one direction. Furthermore, the single-axis drive mechanism is located outside the structure, and the exposed drive structure is prone to lubricating oil stains and dust adhesion, affecting medical hygiene. Therefore, a multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery is proposed. Utility Model Content

[0006] The purpose of this section is to outline some aspects of the embodiments of this utility model and to briefly introduce some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be used to limit the scope of this utility model.

[0007] In view of the problems existing in the above and / or existing robotic arm joint structures, this utility model is proposed.

[0008] Therefore, the purpose of this utility model is to provide a multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery. The ball joint head is connected between the two support arms. A drive mechanism is set on the inner side of the support arm. One drive mechanism drives the transmission joint to move vertically, and the other drive mechanism drives the transmission joint to move laterally, increasing the joint's degree of freedom. The built-in drive mechanism avoids dust accumulation in the connection gaps of the external drive mechanism and also prevents lubricating oil stains in the structure from affecting medical hygiene.

[0009] To solve the above-mentioned technical problems, according to one aspect of the present invention, the present invention provides the following technical solution: A multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery, comprising: The transmission joint includes a support rod, a ball joint head, a vertical toothed groove, and a horizontal toothed groove. The support rod is provided with ball joint heads at both ends, and the ball joint heads on both sides are provided with vertical toothed grooves and horizontal toothed grooves on their outer sides, respectively. A support arm is connected to the outer sides of the two ball joint heads. The support arm includes a housing and a support baffle. The support baffle is provided on the inner wall of the housing. The drive mechanism is connected to the ball joint heads on both sides. The drive mechanism includes a rotating shaft, a drive gear, a worm gear, a drive component, and a worm. The rotating shaft is rotatably connected to the inner wall of the housing. The drive gear is fixedly connected to the center of the rotating shaft. The drive gears on both sides mesh with the vertical tooth groove and the horizontal tooth groove, respectively. The worm gear is provided on the side of the rotating shaft. The drive component is provided on the support baffle. The output end of the drive component is provided with a worm that meshes with the worm gear.

[0010] As a preferred embodiment of the multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery described in this utility model, a corrugated protective sleeve is connected between the two shells, and the corrugated protective sleeve is a transparent sleeve.

[0011] As a preferred embodiment of the multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery described in this utility model, a maintenance mechanism is provided on both sides of the rotating shaft. The maintenance mechanism includes a hollow ring, a brush head, a connecting pipe, and an oil box. The hollow ring is fixed on both sides of the rotating shaft. One side of the hollow ring is connected to the brush head, which is connected to the ball joint head. The other end of the hollow ring is connected to the oil box through the connecting pipe. The oil box is set on the support baffle.

[0012] As a preferred embodiment of the multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery described in this utility model, the driving component is a torque motor, and a bearing is provided between the output shaft of the driving component and the support baffle.

[0013] As a preferred embodiment of the multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery described in this utility model, the brush head is made of sponge block, and the brush head has a groove that fits into the ball joint head.

[0014] As a preferred embodiment of the multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery described in this utility model, the connecting tube is a flexible tube.

[0015] As a preferred embodiment of the multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery described in this utility model, the oil in the oil box permeates into the brush head through a connecting pipe.

[0016] Compared with the prior art, this utility model has ball joint heads at both ends of the support rod, which are connected between the two support arms. A drive mechanism is set inside the support arm. One drive mechanism drives the transmission joint to move vertically, and the other drive mechanism drives the transmission joint to move laterally, increasing the joint's degree of freedom. The built-in drive mechanism avoids dust accumulation in the connection gaps of the external drive mechanism and also avoids lubricating oil stains in the structure from affecting medical and hygiene purposes. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings and detailed embodiments. 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. Among them: Figure 1 This is a schematic diagram of the axonal structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the housing of this utility model; Figure 3 This is a schematic diagram of the transmission joint structure of this utility model; Figure 4 This is a schematic diagram of the drive mechanism structure of this utility model. Figure 5 This is a schematic diagram of the maintenance mechanism of this utility model.

[0018] In the diagram: 100 transmission joint, 110 support rod, 120 ball joint head, 130 vertical toothed groove, 140 horizontal toothed groove, 200 support arm, 210 housing, 220 support baffle, 230 corrugated protective sleeve, 300 drive mechanism, 310 rotating shaft, 320 drive gear, 330 worm gear, 340 drive component, 350 worm, 400 maintenance mechanism, 410 hollow ring, 420 brush head, 430 connecting pipe, 440 oil box. Detailed Implementation

[0019] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0020] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0021] Secondly, this utility model is described in detail with reference to the schematic diagrams. When describing the embodiments of this utility model, for ease of explanation, the cross-sectional views showing the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of this utility model. In addition, in actual manufacturing, the three-dimensional spatial dimensions of length, width, and depth should be included.

[0022] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0023] This invention provides a multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery. A ball joint head connects between two supporting arms. A drive mechanism is located inside the supporting arms. One drive mechanism drives the transmission joint vertically, while the other drive mechanism drives it laterally, increasing the joint's degrees of freedom. The built-in drive mechanism avoids dust accumulation in the gaps of external drive mechanisms and prevents lubricating oil from affecting medical hygiene. Please refer to [link / reference]. Figures 1-5 It includes: a transmission joint 100, a support arm 200, and a drive mechanism 300.

[0024] The transmission joint 100 includes a support rod 110, a ball joint head 120, a vertical toothed groove 130 and a horizontal toothed groove 140. The support rod 110 is provided with ball joint heads 120 at both ends, and the ball joint heads 120 on both sides are provided with vertical toothed grooves 130 and horizontal toothed grooves 140 on their outer sides. Among them, the ball joint head 120 is symmetrically arranged on both sides of the support rod 110. The vertical tooth groove 130 and the horizontal tooth groove 140 adopt an embedded groove body. The inner wall of the groove body is provided with teeth. The groove body itself provides a guide track, so that the ball joint head 120 can move in one direction and ensure the stability of the movement.

[0025] The support arm 200 is connected to the outer side of the ball joint heads 120 on both sides. The support arm 200 includes a housing 210 and a support baffle 220. The support baffle 220 is provided on the inner wall of the housing 210. The ball joint head 120 is engaged at the end of the housing 210 of the support arm 200, and the ball joint head 120 can move freely at the end of the housing 210.

[0026] The drive mechanism 300 is connected to the ball joint heads 120 on both sides respectively. The drive mechanism 300 includes a rotating shaft 310, a drive gear 320, a worm gear 330, a drive component 340 and a worm 350. The rotating shaft 310 is rotatably connected to the inner wall of the housing 210. The drive gear 320 is fixedly connected to the center of the rotating shaft 310. The drive gears 320 on both sides mesh with the vertical tooth groove 130 and the horizontal tooth groove 140 respectively. The worm gear 330 is provided on the side of the rotating shaft 310. The drive component 340 is provided on the support baffle 220. The output end of the drive component 340 is provided with a worm 350 that meshes with the worm gear 330. The drive component 340 is a torque motor. A bearing is provided between the output shaft of the drive component 340 and the support baffle 220. The drive component 340 drives the worm 350 to rotate, the worm 350 drives the worm wheel 330 to rotate, the worm wheel 330 drives the drive gear 320 to rotate through the rotating shaft 310, and the drive gear 320 drives the ball joint head 120 to move through the vertical tooth groove 130 and the horizontal tooth groove 140.

[0027] To prevent dust from accumulating in the joint gaps, a corrugated protective sleeve 230 is connected between the two shells 210. The corrugated protective sleeve 230 is a transparent sleeve that protects the joint gaps of the ball joint head 120.

[0028] Due to the adoption of a built-in drive structure, in order to avoid structural wear, a maintenance mechanism 400 is provided on both sides of the rotating shaft 310. The maintenance mechanism 400 includes a hollow ring 410, a brush head 420, a connecting pipe 430, and an oil box 440. The hollow ring 410 is fixed on both sides of the rotating shaft 310. One side of the hollow ring 410 is connected to the brush head 420, which is connected to the ball joint head 120. The other end of the hollow ring 410 is connected to the oil box 440 through the connecting pipe 430. The oil box 440 is set on the support baffle 220. The connecting pipe 430 is a flexible tube, and the brush head 420 is a sponge block. The brush head 420 has a groove that fits into the ball joint head 120. The oil in the oil box 440 permeates into the brush head 420 through the connecting pipe 430. When the ball joint head 120 moves, the brush head 420 rotates with the rotating shaft 310. The rotation direction of the rotating shaft 310 is opposite to the movement direction of the ball joint head 120. The brush head 420 is used to apply the maintenance oil to the ball joint head 120 for maintenance.

[0029] In practical use, a bearing is provided between the output shaft of the drive component 340 and the support baffle 220. The drive component 340 drives the worm gear 350 to rotate, the worm gear 350 drives the worm wheel 330 to rotate, and the worm wheel 330 drives the drive gear 320 to rotate through the rotating shaft 310. The drive gear 320 drives the ball joint head 120 to move through the vertical tooth groove 130 and the horizontal tooth groove 140. During the movement, the brush head 420 rotates with the rotating shaft 310. The brush head 420 is used to apply the maintenance oil to the ball joint head 120 for maintenance. The drive mechanism 300 is built into the housing 210 of the support arm 200 to avoid dust accumulation in the connection gaps of the external drive mechanism, and at the same time to prevent lubricating oil stains in the structure from affecting medical hygiene.

[0030] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the features in the embodiments disclosed in this invention can be combined with each other in any way. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery, characterized in that, include: A transmission joint (100) includes a support rod (110), a ball joint head (120), a vertical toothed groove (130), and a horizontal toothed groove (140). The support rod (110) has ball joint heads (120) at both ends, and vertical toothed grooves (130) and horizontal toothed grooves (140) are respectively provided on the outer sides of the ball joint heads (120) on both sides. A support arm (200) is connected to the outer sides of the ball joint heads (120) on both sides. The support arm (200) includes a housing (210) and a support baffle (220). The support baffle (220) is provided on the inner wall of the housing (210). A drive mechanism (300) is connected to the ball joint heads (120) on both sides. Next, the drive mechanism (300) includes a rotating shaft (310), a drive gear (320), a worm gear (330), a drive component (340), and a worm (350). The rotating shaft (310) is rotatably connected to the inner wall of the housing (210). The drive gear (320) is fixedly connected to the center of the rotating shaft (310). The drive gears (320) on both sides mesh with the vertical tooth groove (130) and the horizontal tooth groove (140) respectively. The worm gear (330) is provided on the side of the rotating shaft (310). The drive component (340) is provided on the support baffle (220). The output end of the drive component (340) is provided with a worm (350) that meshes with the worm gear (330).

2. The multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery according to claim 1, characterized in that, A corrugated protective sleeve (230) is connected between the two shells (210), and the corrugated protective sleeve (230) is a transparent sleeve.

3. The multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery according to claim 1, characterized in that, A maintenance mechanism (400) is provided on both sides of the rotating shaft (310). The maintenance mechanism (400) includes a hollow ring (410), a brush head (420), a connecting pipe (430), and an oil box (440). The hollow ring (410) is fixed on both sides of the rotating shaft (310). One side of the hollow ring (410) is connected to the brush head (420) which is connected to the ball joint head (120). The other end of the hollow ring (410) is connected to the oil box (440) through the connecting pipe (430). The oil box (440) is set on the support baffle (220).

4. The multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery according to claim 1, characterized in that, The drive component (340) is a torque motor, and a bearing is provided between the output shaft of the drive component (340) and the support baffle (220).

5. The multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery according to claim 3, characterized in that, The brush head (420) is made of sponge block, and the brush head (420) has a groove that fits into the ball joint head (120).

6. The multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery according to claim 3, characterized in that, The connecting pipe (430) is a flexible hose.

7. The multi-degree-of-freedom robotic arm joint structure for minimally invasive surgery according to claim 3, characterized in that, The oil in the oil box (440) permeates into the brush head (420) through the connecting pipe (430).

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