Backend transmission device, medical device, and surgical robot
Patent Information
- Application Number
- JP2024211134
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2021-04-30
- Filing Date
- 2024-12-04
- Publication Date
- 2025-02-21
- Estimated Expiration
- 2042-03-03
Smart Images
Figure 2025026517000001_ABST
Abstract
Description
[Technical field]
[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application cites Chinese patent application No. 202110484481.8, entitled "Back-end transmission device, medical equipment and surgical robot," filed on April 30, 2021, which is incorporated by reference into this application.
[0002] FIELD OF THEINVENTION The present application relates to the medical equipment technical field, specifically to back-end transmissions, medical equipment and surgical robots. [Background technology]
[0003] In robot-assisted minimally invasive surgery, surgical instruments connected to the end of a robot enter the human body through wounds or natural openings on the surface of the human body to manipulate tissues inside the human body. Such surgical instruments are mainly composed of actuators or tools (e.g., surgical forceps, shearing tools, or cauterization tools) located at the front end and attached to a wrist mechanism, a main pipe that runs from the back end of the instrument to the front end, and a power and transmission device at the back end of the instrument. The front end actuators and wrist mechanism are usually driven by multiple cables fixed to them, which run through the main pipe of the surgical instrument and are driven by the power and transmission device at the back end.
[0004] For surgical forceps and other gripping or shearing tools, the wrist mechanism typically needs to achieve three degrees of freedom: pitch, yaw, and grip, which can be combined with the extra degrees of freedom of the back end of the robot to achieve the motions required to complete the surgical operation. Depending on the specific embodiment of the wrist mechanism, the number of drive cables required may vary (e.g., four or six). Typically, to achieve a wide range of motion (e.g., -90° to 90°) for each joint of the wrist mechanism, an extra pulley must be installed in the wrist mechanism to guide the cables, but adding extra pulleys and other parts hinders the miniaturization of the surgical instrument front end. In addition, using more cables increases the size and cost of the instrument.
[0005] The conventional back-end transmission device that drives a four-cable wrist realizes the release of two cables and the tightening of the other two cables by the swing of the connecting rod or swing arm, and thus realizes the pitch movement of the wrist. When using this method, the cable lengths of the tightening and releasing are not equal with the change in pitch angle, which may lead to changes in the elasticity of the cable, causing the cable to be too loose, resulting in a gap and reducing accuracy, or the cable to be too tight, resulting in excessive friction resistance and accelerating wear. To avoid this problem, the rotation angle range of the pitch joint can be limited, but this will affect the function of the tool. In addition, when using such a mechanism, the rotation angle of the output end of the back-end motor and the pitch angle of the wrist have a nonlinear relationship, which requires extra positioning work to achieve accurate position control, thereby increasing the amount of extra work. Summary of the Invention
[0006] A simplified set of concepts is introduced in the summary of the present invention, which is then further explained in the specific embodiments. The summary of the present application is not intended to limit the key features and essential technical features of the claimed technical solution, let alone determine the scope of protection of the claimed technical solution.
[0007] According to various embodiments of the present disclosure, a back end transmission is provided, A first rotating member; A second pivot member; A third rotating member; and a first transmission assembly used for connecting a first cable and a second cable, respectively, and connected to the first rotating member and the third rotating member, respectively; a second transmission assembly used to connect a third cable and a fourth cable, respectively, and connected to the second rotating member and the third rotating member, respectively; wherein the first rotating member is configured to be rotatable so as to retract one of the first cable and the second cable through the first transmission assembly and simultaneously release the other of the first cable and the second cable; the second pivot member is pivotally configured to retract one of the third cable and the fourth cable through the second transmission assembly while simultaneously releasing the other of the third cable and the fourth cable; The third rotating member is configured to be rotatable such that, via the first transmission assembly and the second transmission assembly, it is possible to retract at least one of the first cable and the second cable while releasing at least one of the third cable and the fourth cable, or to retract at least one of the third cable and the fourth cable while releasing at least one of the first cable and the second cable.
[0008] According to the back-end transmission of the embodiment of the present application, the back-end transmission is connected to, for example, four drive cables of the wrist mechanism, so that the wrist mechanism and the back-end transmission work together to realize pitch, yaw and grip of the wrist mechanism by retracting and releasing the drive cables (i.e., the first cable, the second cable, the third cable and the fourth cable). Under such a driving method, the structure is simple, the transmission is accurate, the pitch, yaw and grip angles of the rotating member and the wrist mechanism are in a linear relationship, and the equal length release and / or retraction of the drive cables can be ensured even if the above angles of the wrist mechanism change significantly.
[0009] In one embodiment, the first rotating member is rotatable about a first central axis, the second rotating member is rotatable about a second central axis, the third rotating member is rotatable about a third central axis, and the first central axis is parallel to the second central axis and parallel to the third central axis.
[0010] In one embodiment, the first transmission assembly comprises: a first movable pulley for connecting the first cable; a first transmission cable, the first transmission cable being wound around the first movable pulley and both ends of the first transmission cable being connected to the first rotating member and the third rotating member, respectively; a second movable pulley rotatable about a second axis for connecting the second cable; a second transmission cable, the second transmission cable being wound around the second movable pulley, and both ends of the second transmission cable being connected to the first rotating member and the third rotating member, respectively; a winding direction in which the first transmission cable is wound around the first rotating member is opposite to a winding direction in which the second transmission cable is wound around the first rotating member, and a winding direction in which the first transmission cable is wound around the third rotating member is the same as a winding direction in which the second transmission cable is wound around the third rotating member, When the first rotating member or the third rotating member rotates, the first movable pulley is moved by the first transmission cable, and the second movable pulley is moved by the second transmission cable.
[0011] In one embodiment, the first transmission assembly further includes a first guide wheel, a portion of the first transmission cable located between the first rotating member and the first moving pulley is wound around the first guide wheel, and a portion of the first transmission cable located between the first guide wheel and the first moving pulley is parallel to a portion of the first transmission cable located between the first moving pulley and the third rotating member.
[0012] In one embodiment, a portion of the second transmission cable located between the first rotating member and the second moving pulley is parallel to a portion of the second transmission cable located between the second moving pulley and the third rotating member, and is parallel to a portion of the first transmission cable located between the first moving pulley and the third rotating member.
[0013] In one embodiment, the second transmission assembly comprises: a third movable pulley for connecting the third cable; a third transmission cable, the third transmission cable being wound around the third movable pulley and both ends of the third transmission cable being connected to the second rotating member and the third rotating member, respectively; a fourth movable pulley that is rotatable about a fourth axis and that is for connecting the fourth cable; and a fourth transmission cable, the fourth transmission cable being wound around the fourth movable pulley and both ends of the fourth transmission cable being connected to the second rotating member and the third rotating member, respectively.
[0014] In one embodiment, a winding direction in which the third transmission cable is wound around the second rotating member is opposite to a winding direction in which the fourth transmission cable is wound around the second rotating member, and the winding direction in which the third transmission cable is wound around the third rotating member and the winding direction in which the fourth transmission cable is wound around the third rotating member are opposite to the winding direction in which the first transmission cable is wound around the third rotating member and the winding direction in which the second transmission cable is wound around the third rotating member, When the second rotating member or the third rotating member rotates, the third movable pulley is moved by the third transmission cable, and the fourth movable pulley is moved by the fourth transmission cable.
[0015] In one embodiment, the first moving pulley is rotatably connected to a first moving pulley base via a first axis, the first moving pulley base being used to connect the first cable, the second moving pulley is rotatably connected to a second moving pulley base via a second axis, the second moving pulley base being used to connect the second cable, the first axis being parallel to the second axis and parallel to the first central axis, and / or The third movable pulley is rotatably connected to a third movable pulley base via a third axis, the third movable pulley base is used to connect the third cable, the fourth movable pulley is rotatably connected to the fourth movable pulley base via a fourth axis, the fourth movable pulley base is used to connect the fourth cable, and the third axis is parallel to the fourth axis and parallel to the first central axis.
[0016] In one embodiment, the second transmission assembly further includes a second guide wheel, and a portion of the fourth transmission cable located between the second rotating member and the fourth movable pulley is wound around the second guide wheel, and a portion of the fourth transmission cable located between the second guide wheel and the fourth movable pulley is parallel to a portion of the fourth transmission cable located between the fourth movable pulley and the third rotating member.
[0017] In one embodiment, a portion of the third cable located between the second rotating member and the third movable pulley is parallel to a portion of the third cable located between the third movable pulley and the third rotating member, and is parallel to a portion of the fourth transmission cable located between the fourth movable pulley and the third rotating member.
[0018] According to various embodiments of the present application, there is further provided a medical device, comprising a back-end transmission as described in any of the above embodiments.
[0019] According to various embodiments of the present application, a surgical robot is further provided, comprising the medical device according to any of the above embodiments. [Brief description of the drawings]
[0020] The following drawings of the present application are used herein as part of the present application for understanding the present application. In the drawings, the present application's embodiment and its description are shown to explain the principles of the present application. In the drawings, [Figure 1] FIG. 1 is a diagram showing the structure of a surgical robot in an embodiment of the present application. [Diagram 2] FIG. 2 is a diagram showing a local structure of the surgical robot in FIG. 1, in which the wrist mechanism, the first cable, the second cable, the third cable and the fourth cable are shown. [Diagram 3] FIG. 3 is a diagram showing another local structure of the surgical robot in FIG. 1, in which the back-end transmission, the first cable, the second cable, the third cable and the fourth cable are shown. [Figure 4] FIG. 4 is a diagram showing a local structure of the back-end transmission of the surgical robot in FIG.
[0021] 100: Surgical robot 110: Mechanical arm 111: Arm 120: Medical equipment 130: Wrist mechanism 131: Proximal end fixture 132: Distal end fixture 133: Actuator 134: Grip claw upper jaw 135: Grip claw lower jaw 136: 1st pin axis 137: 2nd pin axis 140: Main pipe 141: First cable 142: 2nd cable 143: 3rd cable 144: 4th cable 150: Back end transmission 151: First rotating member 152: Second rotating member 153: third rotating member 156: first moving pulley 157: Second movable pulley 158: First transmission cable 159: Second transmission cable 161: First shaft 162: Second axis 163: First guide wheel 164: 3rd moving pulley 165: 4th moving pulley 166: 3rd transmission cable 167: 4th transmission cable 168: 3rd axis 169: 4th axis 171: Second guide wheel 172: Base plate 173: First rotating shaft 174: Second rotating shaft 175: 3rd rotating shaft 176: 3rd guide wheel set 177: 5th axis 178: 3rd guide wheel 181: First movable pulley base 182: Second movable pulley base 183: 3rd movable pulley base 184: 4th movable pulley base A1: 1st central axis line A2: 2nd central axis line A3: 3rd central axis DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0022] In the following description, many specific details are given to facilitate a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without one or more of these details. In other instances, some technical features that are well known in the art are not described to avoid confusion with the embodiments of the present application.
[0023] In order to allow the embodiments of the present application to be thoroughly understood, detailed structures are proposed in the following description. Obviously, the implementation of the embodiments of the present application is not limited to special details familiar to those skilled in the art. In addition, ordinal numbers such as "first" and "second" cited in the present application are merely for denotation purposes and do not have any other meaning such as a specific order. In addition, for example, the term "first member" itself does not suggest the existence of a "second member", and the term "second member" itself does not suggest the existence of a "first member". The terms "upper", "lower", "front", "rear", "left", "right" and similar expressions used in the present application are for explanation purposes only and are not limiting.
[0024] 1, an embodiment of the present application provides a back-end transmission 150, a medical instrument 120, and a surgical robot 100. The surgical robot 100 includes a movably mounted mechanical arm 110 and a medical instrument 120 attached to the mechanical arm 110, where the medical instrument 120 includes the above-mentioned back-end transmission 150. As known in the art, the medical instrument 120 can achieve many functions, including, but not limited to, surgical forceps or grippers of various shapes and sizes, needle drivers, scissors, or cauterization tools.
[0025] As shown in FIG. 1, the surgical robot 100 mainly includes a base 180, at least one mechanical arm 110 rotatably mounted on the upper end of the base 180, and a medical device 120 attached to a corresponding port of the mechanical arm 110. FIG. 1 exemplarily shows only one mechanical arm 110, which includes arms 111 connected at the head and tail, and these arms 111 are rotatably mounted. When there are multiple mechanical arms 110, the medical devices 120 are attached to the corresponding ports of each mechanical arm 110. In order to facilitate replacement or repair of the medical device 120, the medical device 120 and the mechanical arm 110 are detachably connected. The medical device 120 attached to the mechanical arm 110 can be selectively used for a specific medical program or changed to provide a required clinical function during the medical program.
[0026] The docking port of the mechanical arm 110 typically includes a drive motor that provides mechanical power for the operation of the medical device 120. The docking port may also include an electrical interface connected to the medical device 120, for example, to identify the type of device present in the docking port and to obtain device parameters.
[0027] The medical device 120 typically includes a back-end transmission 150, a main pipe 140 extending from the back-end transmission 150, and a wrist mechanism 130 at the distal end of the main pipe 140. The drive cables (specifically, a first cable 141, a second cable 142, a third cable 143, and a fourth cable 144) and conductors connected to the wrist mechanism 130 can extend through the main pipe 140 and be connected to the back-end transmission 150. The back-end transmission 150 provides a mechanical connection from the drive cables to the motor drive shaft of the drive motor, and operates the wrist mechanism 130 by controlling the movement and tension of the drive cables. The main pipe 140 is hollow and may be rigid or flexible.
[0028] As shown in FIG. 2, the wrist mechanism 130 includes a proximal end jig 131, a distal end jig 132, and an actuator 133. The distal end jig 132 is rotatably connected to the proximal end jig 131 via a first pin shaft 136, and realizes the pitch movement of the wrist mechanism 130. The actuator 133 includes a grip claw upper jaw 134 and a grip claw lower jaw 135, which are rotatably connected to the distal end jig 132 via a second pin shaft 137, and realizes the grip and yawing of the wrist mechanism 130. In one embodiment, the second pin shaft 137 is perpendicular to the first pin shaft 136.
[0029] The first cable 141 and the second cable 142 are connected to be wound around the grip claw lower jaw 135 of the actuator 133, i.e., the first cable 141 and the second cable 142 can be formed by winding a continuous, integral cable around the grip claw lower jaw 135. The third cable 143 and the fourth cable 144 are connected to be wound around the grip claw upper jaw 134 of the actuator 133, i.e., the third cable 143 and the fourth cable 144 can be formed by winding a continuous, integral cable around the grip claw upper jaw 134. The first cable 141, the second cable 142, the third cable 143 and the fourth cable 144 run along the hard surfaces of the guide passages (not shown) of the actuator 133, the distal end fixture 132 and the proximal end fixture 131, and run through the main pipe 140 to return to the back-end transmission 150. For example, the guide passage may be a groove having a U-shaped or semicircular cross section.
[0030] 2, by retracting the third cable 143 and the fourth cable 144 with equal lengths and simultaneously releasing the first cable 141 and the second cable 142 with equal lengths, the distal end jig 132 rotates clockwise around the first pin shaft 136 relative to the proximal end jig 131, thereby realizing pitch forward motion of the wrist mechanism 130 (see FIG. 2). Similarly, by retracting the first cable 141 and the second cable 142 with equal lengths and simultaneously releasing the third cable 143 and the fourth cable 144 with equal lengths, the distal end jig 132 rotates counterclockwise around the first pin shaft 136 relative to the proximal end jig 131, thereby realizing pitch reverse motion of the wrist mechanism 130.
[0031] By releasing the third cable 143 at the same length while retracting the fourth cable 144, the grip claw upper jaw 134 rotates clockwise around the second pin shaft 137 relative to the distal end jig 132 (see yawing 1 in FIG. 2). Similarly, by releasing the fourth cable 144 at the same length while retracting the third cable 143, the grip claw upper jaw 134 rotates counterclockwise around the second pin shaft 137 relative to the distal end jig 132. By releasing the first cable 141 at the same length while retracting the second cable 142, the grip claw lower jaw 135 rotates clockwise around the second pin shaft 137 relative to the distal end jig 132 (see yawing 2 in FIG. 2). Similarly, by releasing the second cable 142 at the same length while retracting the first cable 141, the grip claw lower jaw 135 rotates counterclockwise around the second pin shaft 137 relative to the distal end jig 132. The yawing and gripping motion of the actuator 133 can be achieved by a combination of the movements of the grip claw upper jaw 134 and the grip claw lower jaw 135. This will be described in detail later.
[0032] As shown in Figures 3 and 4, the back-end transmission device 150 mainly includes a first rotating member 151, a second rotating member 152, a third rotating member 153, a first transmission assembly, a second transmission assembly, a first rotating shaft 173, a second rotating shaft 174, a third rotating shaft 175, and a base plate 172. The first rotating shaft 173, the second rotating shaft 174, and the third rotating shaft 175 are respectively rotatably mounted on the base plate 172 and are respectively used for connecting to corresponding driving motors. The first transmission assembly and the second transmission assembly are both mounted on the base plate 172. The base plate 172 has an interface corresponding to the driving motor, which ensures that the first rotating shaft 173, the second rotating shaft 174, and the third rotating shaft 175 are stably connected to the driving motor and can realize the transmission of rotational motion when the medical device 120 is properly mounted.
[0033] As can be understood, the surgical robot 100 may include at least three drive motors, where the three drive motors are respectively connected to a first rotation shaft 173, a second rotation shaft 174, and a third rotation shaft 175. The first rotation shaft 173, the second rotation shaft 174, and the third rotation shaft 175 are provided parallel to each other, and the first rotation shaft 173, the second rotation shaft 174, and the third rotation shaft 175 are arranged in a substantially triangular shape. Note that the arrangement of the first rotation shaft 173, the second rotation shaft 174, and the third rotation shaft 175 is not limited to the present embodiment, and the first rotation shaft 173, the second rotation shaft 174, and the third rotation shaft 175 may be linearly arranged as necessary. The first rotating shaft 173 is fixedly connected to the first rotating member 151, the second rotating shaft 174 is fixedly connected to the second rotating member 152, and the third rotating shaft 175 is fixedly connected to the third rotating member 153, thereby respectively driving the rotation of the first rotating member 151, the second rotating member 152, and the third rotating member 153. In this embodiment, the first rotating member 151, the second rotating member 152, and the third rotating member 153 are capstans.
[0034] The first transmission assembly is used to connect the first cable 141 and the second cable 142, respectively, and is connected to the first rotating member 151 and the third rotating member 153, respectively. The first transmission assembly mainly includes a first moving pulley 156, a second moving pulley 157, a first transmission cable 158, and a second transmission cable 159. The first moving pulley 156 is rotatably connected to the first moving pulley base 181 via a first shaft 161, the first moving pulley 156 is rotatable around the first shaft 161, and the first cable 141 is connected to the first moving pulley base 181. The second moving pulley 157 is rotatably connected to the second moving pulley base 182 via a second shaft 162, the second moving pulley 157 is rotatable around the second shaft 162, and the second cable 142 is connected to the second moving pulley base 182.
[0035] The first transmission cable 158 is wound around the first moving pulley 156, and both ends of the first transmission cable 158 are connected to the first rotating member 151 and the third rotating member 153, respectively. The second transmission cable 159 is wound around the second moving pulley 157, and both ends of the second transmission cable 159 are connected to the first rotating member 151 and the third rotating member 153, respectively. Specifically, the first transmission cable 158 and the second transmission cable 159 are wound around the first rotating member 151 in opposite directions, and are wound around the third rotating member 153 in the same direction. When the first rotating member 151 or the third rotating member 153 rotates, the first moving pulley 156 moves due to the first transmission cable 158, and the second moving pulley 157 moves due to the second transmission cable 159.
[0036] The first transmission assembly further includes a first guide wheel 163, and a portion of the first transmission cable 158 located between the first rotating member 151 and the first moving pulley 156 is wound around the first guide wheel 163, and a portion of the first transmission cable 158 located between the first guide wheel 163 and the first moving pulley 156 and a portion of the first transmission cable 158 located between the first moving pulley 156 and the third rotating member 153 are parallel to each other, and the absolute values of the linear velocities of the portion of the first transmission cable 158 located between the first guide wheel 163 and the first moving pulley 156 and the portion of the first transmission cable 158 located between the first moving pulley 156 and the third rotating member 153 are equal, that is, the absolute values of the linear velocities of the cables located on both sides of the first moving pulley 156 of the first transmission cable 158 are equal. The portion of the second transmission cable 159 located between the first rotating member 151 and the second moving pulley 157 is parallel to the portion of the second transmission cable 159 located between the second moving pulley 157 and the third rotating member 153, and is parallel to the portion of the first transmission cable 158 located between the first moving pulley 156 and the third rotating member 153, that is, the absolute values of the linear velocities of the cables located on both sides of the second moving pulley 157 of the second transmission cable 159 are equal. The first guide wheel 163 may be a fixed pulley. Those skilled in the art can understand that other guide wheels may be added as necessary to guide the first transmission cable 158 and the second transmission cable 159.
[0037] The first rotating member 151 is configured to be rotatable about the first central axis A1, so that one of the first cable 141 and the second cable 142 can be retracted and the other of the first cable 141 and the second cable 142 can be released through the first transmission assembly, and the gripping claw jaw 135 can be rotated clockwise or counterclockwise about the second pin axis 137 relative to the distal end jig 132. In one embodiment, the first axis 161 is parallel to the second axis 162 and is parallel to the first central axis A1.
[0038] Specifically, when the drive motor drives the first rotating shaft 173 to rotate the first rotating member 151 counterclockwise while the third rotating member 153 remains stationary, the second transmission cable 159 is retracted (i.e., wound around the first rotating member 151) and at the same time the first transmission cable 158 is released at the same length; in other words, the second cable 142 is retracted via the second movable pulley 157 and at the same time the first cable 141 is released at the same length via the first movable pulley 156, thereby enabling the grip claw lower jaw 135 to rotate clockwise around the second pin axis 137 relative to the distal end jig 132 (see yawing 2 in Figure 2). When the drive motor drives the first rotating shaft 173 to rotate the first rotating member 151 clockwise while the third rotating member 153 remains stationary, the first transmission cable 158 is retracted (i.e., wound around the first rotating member 151) and at the same time the second transmission cable 159 is released at the same length; in other words, the first cable 141 is retracted via the first movable pulley 156 and at the same time the second cable 142 is released at the same length via the second movable pulley 157, thereby enabling the grip claw lower jaw 135 to rotate counterclockwise around the second pin axis 137 relative to the distal end jig 132.
[0039] 3 and 4, the second transmission assembly is used to connect the third cable 143 and the fourth cable 144, respectively, and is connected to the second rotating member 152 and the third rotating member 153, respectively. The second transmission assembly includes a third moving pulley 164, a fourth moving pulley 165, a third transmission cable 166, and a fourth transmission cable 167. The third moving pulley 164 is rotatably connected to a third moving pulley base 183 via a third shaft 168, the third moving pulley 164 is rotatable around the third shaft 168, and the third cable 143 is connected to the third moving pulley base 183. The fourth movable pulley 165 is rotatably connected to a fourth movable pulley base 184 via a fourth shaft 169, the fourth movable pulley 165 is rotatable around the fourth shaft 169, and the fourth cable 144 is connected to the fourth movable pulley base 184.
[0040] The third transmission cable 166 is wound around the third moving pulley 164, and both ends of the third transmission cable 166 are connected to the second rotating member 152 and the third rotating member 153, respectively. The fourth transmission cable 167 is wound around the fourth moving pulley 165, and both ends of the fourth transmission cable 167 are connected to the second rotating member 152 and the third rotating member 153, respectively. Specifically, the third transmission cable 166 and the fourth transmission cable 167 are wound around the second rotating member 152 in opposite directions, and the winding direction around the third rotating member 153 is opposite to the winding direction of the first transmission cable 158 and the second transmission cable 159 around the third rotating member 153. When the second rotating member 152 or the third rotating member 153 rotates, the third movable pulley 164 moves by the third transmission cable 166 , and the fourth movable pulley 165 moves by the fourth transmission cable 167 .
[0041] The second transmission assembly further includes a second guide wheel 171, and a portion of the fourth transmission cable 167 between the second rotating member 152 and the fourth moving pulley 165 is wound around the second guide wheel 171, and a portion of the fourth transmission cable 167 between the second guide wheel 171 and the fourth moving pulley 165 is parallel to a portion of the fourth transmission cable 167 between the fourth moving pulley 165 and the third rotating member 153. A portion of the third cable 143 between the second moving member 152 and the third moving pulley 164 is parallel to a portion of the third cable 143 between the third moving pulley 164 and the third rotating member 153, and is parallel to a portion of the fourth transmission cable 167 between the fourth moving pulley 165 and the third rotating member 153. The second guide wheel 171 may be a fixed pulley. Those skilled in the art will appreciate that other guide wheels may be added, if necessary, to guide the third transmission cable 166 and the fourth transmission cable 167.
[0042] The second rotating member 152 is configured to be rotatable about the second central axis A2, thereby allowing one of the third cable 143 and the fourth cable 144 to be retracted and the other of the third cable 143 and the fourth cable 144 to be released through the second transmission assembly, and the gripping claw upper jaw 134 to rotate clockwise or counterclockwise about the second pin axis 137 relative to the distal end jig 132. In one embodiment, the third axis 168 is parallel to the fourth axis 169 and is parallel to the second central axis A2.
[0043] Specifically, when the second rotating shaft 174 is driven by the drive motor to rotate the second rotating member 152 counterclockwise while the third rotating member 153 remains stationary, the fourth transmission cable 167 is retracted (i.e., wound around the second rotating member 152) and at the same time the third transmission cable 166 is released at the same length. In other words, the fourth cable 144 is retracted via the fourth movable pulley 165 and at the same time the third cable 143 is released via the third movable pulley 164 at the same length, thereby realizing the rotation of the grip claw upper jaw 134 around the second pin shaft 137 in the clockwise direction relative to the distal end jig 132 (see FIG. 2). (See Yawing 1). When the second rotating shaft 174 is driven by the drive motor to rotate the second rotating member 152 clockwise while the third rotating member 153 remains stationary, the third transmission cable 166 is retracted (i.e., wound around the second rotating member 152) and at the same time the fourth transmission cable 167 is released at the same length, that is, the third cable 143 is retracted via the third movable pulley 164 and at the same time the fourth cable 144 is released at the same length via the fourth movable pulley 165, thereby realizing the rotation of the grip claw upper jaw 134 counterclockwise around the second pin shaft 137 relative to the distal end jig 132.
[0044] The back-end transmission 150 further includes a third guide wheel set 176 (see FIG. 4), which includes two fifth shafts 177 parallel to each other and two third guide wheels 178 rotatably mounted on the two fifth shafts 177. The third guide wheels 178 may be fixed pulleys.
[0045] The four third guide wheels 178 can guide the first cable 141, the second cable 142, the third cable 143 and the fourth cable 144, respectively. A portion of the first cable 141 located between the third guide wheel set 176 and the first movable pulley 156 is parallel to a portion of the first transmission cable 158 located between the first movable pulley 156 and the third rotating member 153, and a portion of the second cable 142 located between the third guide wheel set 176 and the second movable pulley 157 is parallel to the portion of the second transmission cable 158 located between the first movable pulley 156 and the third rotating member 153. A portion of the third cable 143 located between the third guide wheel set 176 and the third moving pulley 164 and a portion of the third transmission cable 166 located between the third moving pulley 164 and the third rotating member 153 are parallel, and a portion of the fourth cable 144 located between the third guide wheel set 176 and the fourth moving pulley 165 and a portion of the fourth transmission cable 167 located between the fourth moving pulley 165 and the third rotating member 153 are parallel. This allows the first rotating member 151 and the third rotating member 153 to drive the first cable 141 and the second cable 142 in a linear combination, and the second rotating member 152 and the third rotating member 153 to drive the third cable 143 and the fourth cable 144 in a linear combination.
[0046] In this embodiment, by controlling the rotation of the first rotating shaft 173 and the second rotating shaft 174, the yawing and gripping motion of the actuator 133 can be realized.
[0047] Specifically, when the first and second rotating shafts 173 and 174 rotate counterclockwise at equal angles while the third rotating shaft 175 remains stationary, i.e., when the first and second rotating members 151 and 152 rotate counterclockwise at equal angles, the grip claw upper jaw 134 and the grip claw lower jaw 135 both rotate clockwise, and the actuator 133 achieves forward yawing (see FIG. 2). When the first and second rotating shafts 173 and 174 rotate clockwise at equal angles while the third rotating shaft 175 remains stationary, i.e., when the first and second rotating members 151 and 152 rotate clockwise at equal angles, the grip claw upper jaw 134 and the grip claw lower jaw 135 both rotate counterclockwise, and the actuator 133 achieves reverse yawing (see FIG. 2).
[0048] When the first rotating shaft 173 rotates counterclockwise while the second rotating shaft 174 rotates clockwise at an equal angle while the third rotating shaft 175 remains stationary, i.e., when the first rotating member 151 rotates counterclockwise while the second rotating member 152 rotates clockwise at an equal angle, the gripping claw lower jaw 135 rotates clockwise and the gripping claw upper jaw 134 rotates counterclockwise, thereby achieving the gripping operation of the actuator 133 (see Figure 2). When the first rotating shaft 173 rotates clockwise while the second rotating shaft 174 rotates counterclockwise at an equal angle without moving the third rotating shaft 175, i.e., when the first rotating member 151 rotates clockwise while the second rotating member 152 rotates counterclockwise at an equal angle, the grip claw lower jaw 135 rotates counterclockwise and the grip claw upper jaw 134 rotates clockwise, thereby realizing the grip release operation of the actuator 133.
[0049] The third rotating member 153 is configured to be rotatable about the third central axis A3, thereby realizing a pitch motion of the wrist mechanism 130 by retracting at least one of the first cable 141 and the second cable 142 while releasing at least one of the third cable 143 and the fourth cable 144, or by retracting at least one of the third cable 143 and the fourth cable 144 while releasing at least one of the first cable 141 and the second cable 142, via the first transmission assembly and the second transmission assembly. In one embodiment, the first central axis A1 is parallel to the second central axis A2 and parallel to the third central axis A3.
[0050] In this embodiment, when the third rotating member 153 rotates, the first cable 141 and the second cable 142 are retracted at equal lengths while the third cable 143 and the fourth cable 144 are released at equal lengths via the first transmission assembly and the second transmission assembly (i.e., the lengths of the first cable 141 and the second cable 142 wound around the first rotating member 151 during the rotation of the third rotating member 153 are equal to the released lengths of the third cable 143 and the fourth cable 144), or the first cable 141 and the second cable 142 are released at equal lengths while the third cable 143 and the fourth cable 144 are retracted at equal lengths (i.e., the lengths of the third cable 143 and the fourth cable 144 wound around the second rotating member 152 during the rotation of the third rotating member 153 are equal to the released lengths of the first cable 141 and the second cable 142), thereby achieving pitch motion of the wrist mechanism 130.
[0051] Specifically, when the first rotating shaft 173 and the second rotating shaft 174 remain stationary and the drive motor drives the third rotating shaft 175 to rotate the third rotating member 153 counterclockwise, the first transmission cable 158 and the second transmission cable 159 are released with equal lengths, and at the same time the third transmission cable 166 and the fourth transmission cable 167 are retracted with equal lengths, in other words, the first cable 141 and the second cable 142 are released with equal lengths, and at the same time the third cable 143 and the fourth cable 144 are retracted with equal lengths, thereby achieving pitch forward motion of the wrist mechanism 130. Similarly, when the third rotating shaft 175 is driven by the drive motor to rotate the third rotating member 153 clockwise while the first rotating shaft 173 and the second rotating shaft 174 remain stationary, the first transmission cable 158 and the second transmission cable 159 are retracted with equal lengths, and at the same time the third transmission cable 166 and the fourth transmission cable 167 are released with equal lengths, i.e., the first cable 141 and the second cable 142 are retracted with equal lengths, and at the same time the third cable 143 and the fourth cable 144 are released with equal lengths, thereby achieving pitch reverse motion of the wrist mechanism 130.
[0052] In this embodiment, the rotation of the first rotating member 151, the second rotating member 152 and the third rotating member 153 is transmitted to the first cable 141, the second cable 142, the third cable 143 and the fourth cable 144 via the first moving pulley 156, the second moving pulley 157, the third moving pulley 164 and the fourth moving pulley 165, so that the movement distance (i.e. the retracted or released length) of the first cable 141, the second cable 142, the third cable 143 and the fourth cable 144 is only half the movement distance of the corresponding first transmission cable 158, the second transmission cable 159, the third transmission cable 166 and the fourth transmission cable 167, which is equivalent to realizing a reduction ratio of 2:1 from the input side to the output side. Therefore, if there is a hysteresis error in the reducer of the drive motor, or if there is a hysteresis error in the connections between the first rotating shaft 173, the second rotating shaft 174 and the third rotating shaft 175 and the drive motor, the effect of these hysteresis errors on the front-end wrist mechanism 130 will be halved, improving the movement accuracy of the wrist mechanism 130.
[0053] According to the back-end transmission device in the embodiment of the present application, the back-end transmission device is connected to, for example, four drive cables of the wrist mechanism, so that the wrist mechanism and the back-end transmission device work together to realize pitch, yaw and grip of the wrist mechanism by retracting and releasing the drive cables (i.e., the first cable, the second cable, the third cable and the fourth cable) at equal lengths. Under such a driving method, the structure is simple, the transmission is accurate, the pitch, yaw and grip angles of the rotating member and the wrist mechanism are in a linear relationship, and even if the above angles of the wrist mechanism change significantly, the equal length release and / or retraction of the drive cables can be ensured.
[0054] Unless otherwise defined, technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used herein are for describing specific implementation purposes and are not intended to limit the present application. Terms such as "mounted" used herein may indicate that a member is directly attached to another member, or that a member is attached to another member via an intermediate member. Features described in one embodiment of the present application may not apply to other embodiments, or may be applied to other embodiments alone or in combination with other features, unless otherwise described.
[0055] The present application has been described by the above embodiments, but the above embodiments are for the purpose of illustration and description, and are not intended to limit the present application to the scope of the described embodiments. Those skilled in the art can make many more variations and modifications based on the teachings of the present application, and all of these variations and modifications are included in the scope of the claims of the present application.
Claims
1. A first pivot member; A second pivot member; A third rotating member; and a first transmission assembly including a first moving pulley and a second moving pulley connected to the first rotating member and the third rotating member, the first moving pulley and the second moving pulley connected to a first cable and a second cable, respectively; a second transmission assembly including a third moving pulley and a fourth moving pulley connected to the second rotating member and the third rotating member and connected to a third cable and a fourth cable, respectively; wherein the first rotating member is configured to be rotatable so as to retract one of the first cable and the second cable through the first transmission assembly while simultaneously releasing the other of the first cable and the second cable; the second pivot member is pivotally configured to retract one of the third cable and the fourth cable through the second transmission assembly while simultaneously releasing the other of the third cable and the fourth cable; The third rotating member is While moving at least one of the first moving pulley and the second moving pulley along a first direction, moving at least one of the third moving pulley and the fourth moving pulley along a second direction opposite to the first direction; Releasing at least one of the third cable and the fourth cable while retracting at least one of the first cable and the second cable; or The cable is configured to be rotatable so that at least one of the first cable and the second cable can be released while at least one of the third cable and the fourth cable is retracted. A back end transmission comprising:
2. The rotation of the third rotating member is At least one of the first and second moving pulleys is moved in a direction approaching the third rotating member to pull in at least one of the first and second cables, while at least one of the third and fourth moving pulleys is moved in a direction away from the third rotating member to release either one of the third and fourth cables, or At least one of the third movable pulley and the fourth movable pulley is moved in a direction approaching the third rotating member to pull in at least one of the third cable and the fourth cable, while at least one of the first movable pulley and the second movable pulley is moved in a direction away from the third rotating member to release either the first cable or the second cable.
2. The back end transmission of claim 1.
3. The first transmission assembly includes: a first transmission cable, the first transmission cable being wound around the first movable pulley and both ends of the first transmission cable being connected to the first rotating member and the third rotating member, respectively; a second transmission cable, the second transmission cable being wound around the second movable pulley, and both ends of the second transmission cable being connected to the first rotating member and the third rotating member, respectively; Here, a winding direction in which the first transmission cable is wound around the first rotating member is opposite to a winding direction in which the second transmission cable is wound around the first rotating member.
2. The back end transmission of claim 1.
4. the first transmission assembly further includes a first guide wheel, a portion of the first transmission cable positioned between the first rotating member and the first moving pulley is wound around the first guide wheel, and a portion of the first transmission cable positioned between the first guide wheel and the first moving pulley is parallel to a portion of the first transmission cable positioned between the first moving pulley and the third rotating member; 4. The back end transmission of claim 3.
5. a portion of the second transmission cable located between the first rotating member and the second moving pulley is parallel to a portion of the second transmission cable located between the second moving pulley and the third rotating member; 4. The back end transmission of claim 3.
6. The second transmission assembly includes: a third transmission cable, the third transmission cable being wound around the third movable pulley and both ends of the third transmission cable being connected to the second rotating member and the third rotating member, respectively; a fourth transmission cable, the fourth transmission cable being wound around the fourth movable pulley, and both ends of the fourth transmission cable being connected to the second rotating member and the third rotating member, respectively; Here, a winding direction in which the third transmission cable is wound around the second rotating member is opposite to a winding direction in which the fourth transmission cable is wound around the second rotating member.
4. The back end transmission of claim 3.
7. a winding direction in which the first transmission cable is wound around the third rotating member is the same as a winding direction in which the second transmission cable is wound around the third rotating member, a winding direction in which the third transmission cable is wound around the third rotating member and a winding direction in which the fourth transmission cable is wound around the third rotating member are opposite to a winding direction in which the first transmission cable is wound around the third rotating member and a winding direction in which the second transmission cable is wound around the third rotating member.
7. The back end transmission of claim 6.
8. the second transmission assembly further includes a second guide wheel, a portion of the fourth transmission cable positioned between the second rotating member and the fourth moving pulley is wound around the second guide wheel, and a portion of the fourth transmission cable positioned between the second guide wheel and the fourth moving pulley is parallel to a portion of the fourth transmission cable positioned between the fourth moving pulley and the third rotating member; 7. The back end transmission of claim 6.
9. a portion of the third transmission cable located between the second rotating member and the third moving pulley is parallel to a portion of the third transmission cable located between the third moving pulley and the third rotating member, and is parallel to a portion of the fourth transmission cable located between the fourth moving pulley and the third rotating member; 7. The back end transmission of claim 6.
10. the first rotating member, the second rotating member, and the third rotating member are capstans; 2. The back end transmission of claim 1.
11. A back-end transmission according to any one of claims 1 to 10, A medical device characterized by:
12. The medical device according to claim 11, A surgical robot characterized by:
Citation Information
Patent Citations
Transmission mechanisms and surgical instruments
JP2019532783A