CN108309456A - A kind of quick-changing mechanism of control decoupling for single hole operating robot - Google Patents

Abstract

The invention discloses a quick-change mechanism for control decoupling of a single-hole surgical robot, which is driven by a first joint drive mechanism, a second joint drive mechanism, a third joint drive mechanism, a fourth joint drive mechanism and a fifth joint drive mechanism mechanism, the sixth joint driving mechanism, the seventh joint driving mechanism, the eighth joint driving mechanism, the base shell, the base cover, the connecting piece and the locking mechanism, etc. The driving mechanism of surgical instruments adopts control decoupling, which completely solves the problem of mutual motion coupling generated when the joints of the surgical instrument actuators swing; decoupling through the control principle can simplify the structural design of the surgical instrument actuators, which is conducive to the implementation of surgical instruments Institutional mass production. The control decoupling quick-change mechanism for a single-hole surgical robot of the present invention has the advantages of convenient assembly and disassembly, easy adjustment, accurate positioning, high rigidity, reasonable layout, miniaturization, and light weight.

Description

A quick-change mechanism for control decoupling of a single-hole surgical robot

technical field

The invention relates to a medical device in the field of minimally invasive surgery, in particular to a quick-change mechanism of a minimally invasive surgery single-hole surgical robot suitable for minimally invasive surgical operations of the chest cavity and abdominal cavity.

Background technique

Minimally invasive surgery, represented by laparoscopy, is known as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgery refers to the use of long and thin surgical instruments to penetrate into the body through tiny incisions on the surface of the human body to perform surgery. operational. Compared with traditional open surgery, it has the advantages of small surgical incision, less bleeding, small postoperative scar, and faster recovery time, and achieves the same curative effect as traditional open surgery. Manually operated minimally invasive surgical instruments are passively operated, and generally the end has only one degree of freedom of movement. During the operation, the doctor uses the fingers to apply the drive to realize the movement of the terminal instrument, and relies on the flexibility of the doctor's arm and wrist to successfully complete various complex operations including suturing and knotting. However, for the robot system for assisting minimally invasive surgery, since the operation of surgical instruments is done by robots, the robot system itself does not have the flexibility of human operation. Therefore, higher requirements are put forward for the design of special surgical instruments for minimally invasive surgical robots. In order to meet the requirements of minimally invasive surgery, the design of surgical instruments should meet the requirements of small size, flexible operation, various forms, easy installation with robot arms, sufficient rigidity and strength, and suitable for medical environment requirements (such as multiple disinfections). In particular, surgical instruments should have more degrees of freedom to meet the flexibility requirements, so as to adapt to complex surgical operations such as suturing and knotting.

During minimally invasive robotic surgery, the surgical tool is the only part in contact with human diseased tissue, and it is also the part of the robot that directly performs surgical operations. Therefore, the performance of the surgical tool is the key to the overall performance of the minimally invasive surgical robot system. In order to meet the requirements of modern minimally invasive surgery, the design of surgical tools should meet the requirements of compact structure, flexible operation, various forms, easy replacement, and suitable for medical environments. In particular, surgical tools should have more degrees of freedom to meet the flexibility requirements. And it needs to be easy to replace to realize complex operation. Therefore, the performance of surgical instruments matched with surgical tools is also an important part of the overall performance of the minimally invasive surgical robot system. Its performance indicators not only affect the use of surgical tools, but also directly determine the design indicators and layout of the body system. In short, the performance of surgical tools and quick-change devices is a key factor that reflects the overall performance level of the surgical robot system.

Internationally, several sets of prototypes in the field of minimally invasive surgical robot system research have reached the level of commercial clinical application, including da Vinci, Zeus, and LAPROTEK systems. Through the research on the development of surgical robot system, it is found that the surgical tool system is mainly composed of the tool part and the quick change device. The development trend of the tool part is from rod transmission and low degree of freedom to wire transmission and multi-degree of freedom. Although its structure is becoming more and more simplified, its function is becoming more and more powerful; quick change devices are gradually becoming compact and integrated. With the development of the model, the performance becomes more and more efficient and stable. The two existing commercial minimally invasive surgical robots are four-degree-of-freedom surgical tool systems driven by wires. However, these surgical tool systems still have shortcomings such as scattered structure layout and large external dimensions. Development potential.

In my country, the research and development of minimally invasive surgical single-hole surgical robots is still in its infancy, especially the research on surgical tool systems still has a large gap compared with foreign technologies. Therefore, the development of wire transmission, multi-degree-of-freedom surgical tools and matching The performance of the more stable and efficient quick change device is of great significance to fill the domestic gap and promote technological progress in related fields. The research and development of a multi-degree-of-freedom surgical tool system with different wire transmission forms and quick-change methods from the existing system has far-reaching significance for improving my country's academic and technical status in this scientific research field.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a miniaturized and lightweight control solution for a minimally invasive surgical single-hole surgical robot that is convenient to disassemble, easy to adjust, accurate in positioning, relatively large in rigidity, and reasonable in layout. Coupled quick-change mechanism, which can hold surgical tools to assist doctors in performing minimally invasive single-hole surgery.

The present invention provides a miniaturized and light-weight quick-change mechanism for control decoupling of a single-hole surgical robot in minimally invasive surgery, which is convenient to disassemble, easy to adjust, accurate in positioning, relatively large in rigidity, and reasonable in layout. The specific scheme is as follows :

A control decoupling quick-change mechanism for a minimally invasive surgical single-hole surgical robot, comprising a fixed seat on which are installed first, second, third, fourth, fifth, Sixth, seventh and eighth joint drive mechanism;

The first, second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are installed on the same base, and the first, second, third and fourth . The fifth, sixth, seventh and eighth joint drive mechanisms are respectively connected to the surgical performing instrument through an interface clutch disc;

The first, second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms respectively drive the first, second, third and fourth joints of the surgical instrument actuator M through steel wire ropes. Fourth, the rotation of the actuators of the fifth, sixth, seventh and eighth joints;

The first, second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms have the same structure, and each includes a motor, which drives the transmission shaft to rotate, and the transmission shaft Connect with the corresponding interface clutch disc;

Further, the two ends of the drive shafts of the first, second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are axially fixed by bearings, and the bearings are fixed on the base.

Further, the section of the transmission shaft of the first, second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanism is in the shape of "D", and the transmission shaft passes through the "D" "The glyph section is fixed circumferentially.

Further, the first, second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are arranged in series in a single row on the base; the seventh joint drive mechanism and the The eight-joint driving mechanism and the sixth joint driving mechanism are arranged in parallel on the base.

Further, the interface base includes a base shell and a base cover, the base shell is provided with two positioning bosses, and two long bolt holes are respectively provided on both sides of the base shell, and the long bolts The hole is connected to the base cover.

Further, there are two base covers, which are respectively installed and fixed on both sides of the base shell; a guide chute is designed on the base cover, and the top of the guide chute is in the shape of a "bell mouth" to facilitate the operation of the surgical instrument actuator. Installation, the end of the guide chute on the base cover and the bottom of the middle part are in the shape of an "arc". The end of the arc-shaped guide chute and the bottom of the middle groove form an "interference" fit with the fixed pin of the surgical instrument actuator to prevent the fixed pin of the surgical instrument actuator from the end of the guide chute and the middle groove on the base cover. "Slip out" of the bottom, causing the surgical instrument actuator to "separate" from the quick-change mechanism;

Further, the surgical instrument actuator can be installed on the quick-change mechanism along the guide chute on the base cover; two long bolt holes are designed on the base cover, and the two long bolt holes on the base cover are connected with the long bolt holes on the base shell. The axis of the long hole of the bolt hole is vertical, which is convenient for adjusting the installation relative position of the base cover and the base shell when the base cover is installed and fixed on the base shell.

Further, the interface base of the quick-change mechanism for minimally invasive surgery single-hole surgery robot also includes a locking mechanism for fixing the surgical instrument actuator to the interface base; the locking mechanism includes two Each group includes a locking hook. One end of the two locking hooks is rotatably mounted on the same base cover. The groove on the tight hook cooperates with the boss at the corresponding position on the housing of the surgical instrument actuator to fix the surgical instrument actuator.

Beneficial effect:

Compared with the prior art, the quick-change mechanism for control decoupling of a single-hole surgical robot in minimally invasive surgery has the following beneficial effects:

1. The quick-change mechanism for the control decoupling of a minimally invasive surgery single-hole surgical robot of the present invention is convenient to disassemble and assemble, easy to adjust, accurate in positioning, high in rigidity, reasonable in layout, miniaturized, and lightweight.

2. The quick-change mechanism of the surgical instrument adopts control decoupling, which completely solves the mutual kinematic coupling problem generated when the joints of the operating mechanism of the surgical instrument swing.

3. By adjusting the relative installation position between the base cover and the base shell, the relative installation position between the guide chute on the base cover and the interface clutch disc on the base shell can be adjusted, so that the surgical instrument actuator M can be installed to the fast When the mechanism N is replaced, the interface clutch disc on the surgical instrument actuator M can be matched with the interface clutch disc on the base shell just in place for transmission, and the interface clutch disc on the surgical instrument actuator M will not be separated from the interface clutch disc due to interference. The interface clutch disc on the base shell will not fit.

4. The top of the guide chute on the outer cover of the knife seat is made into a bell mouth, which makes it more convenient and quick to install the surgical instrument actuator M into the quick-change mechanism N; the curve of the guide chute can ensure the natural sliding of the knife transmission disc for docking without interference ; The end of the guide chute and the bottom of the middle groove adopt interference fit to accurately locate the relative installation position of the surgical instrument actuator M and the quick-change mechanism N. The surgical instrument actuator M is installed and removed from the front and upper part of the quick-change mechanism N, which conforms to the customary operation direction and reduces the difficulty of installation and removal.

5. The hook locking mechanism can accurately and reliably fix the surgical instrument actuator M to the quick-change mechanism N; it can also lock and loosen the surgical instrument actuator M conveniently.

6. The interface clutch disc on the quick change mechanism N is arranged in a single row, so that the force arm between the fixed points of the surgical instrument actuator M on the interface base is longer, which is more conducive to ensuring that the surgical instrument actuator M is on the interface base. fixed.

7. The interface clutch disc on the quick change mechanism N is arranged in a single row, and the motor and the interface clutch disc are "coaxially arranged", which can drive the second joint drive mechanism, the third joint drive mechanism, the fourth joint drive mechanism and the fifth joint drive mechanism. The motors of the mechanism, the driving mechanism of the sixth joint, the driving mechanism of the seventh joint and the driving mechanism of the eighth joint are arranged in a single row, which reduces the possibility of interference when multiple quick-change mechanisms cooperate with each other, and the space layout is reasonable.

8. Control decoupling is performed on the quick-change mechanism N, and the decoupling mechanism is not designed on the surgical instrument actuator M, which can simplify the structural design of the surgical instrument actuator M, and is conducive to mass production of the surgical instrument actuator M.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are not It must be in proportion, and it is only an exemplary description of the present invention. The accompanying drawings described below are only some embodiments of the present invention, and do not limit the present invention. For those of ordinary skill in the art, without paying creative labor Below, other drawings can also be obtained from these drawings.

Fig. 1 is a schematic diagram of the right side view of a double-head instrument decoupling structure of a quick-change mechanism for control decoupling of a single-hole surgical robot in minimally invasive surgery according to the present invention.

2 is a schematic front view of a double-head instrument decoupling structure of a quick-change mechanism for control decoupling of a minimally invasive surgery single-hole surgical robot according to the present invention.

Fig. 3 is a top view schematic diagram of a double-head instrument decoupling structure of a quick-change mechanism for control decoupling of a single-hole surgery robot in minimally invasive surgery according to the present invention.

4 is a schematic front view of a single-head instrument decoupling structure of a quick-change mechanism for control decoupling of a minimally invasive surgery single-hole surgical robot according to the present invention.

Fig. 5 is a schematic right side view of the assembly of a quick-change mechanism and an instrument actuator for control decoupling of a minimally invasive surgery single-hole surgical robot according to the present invention.

Fig. 6 is a schematic front view of the assembly of a quick-change mechanism and an instrument actuator for decoupling control of a minimally invasive surgery single-hole surgical robot according to the present invention.

Fig. 7 is a schematic top view of the assembly of a quick-change mechanism and an instrument actuator for control decoupling of a minimally invasive surgery single-hole surgical robot according to the present invention.

Fig. 8 is a schematic diagram of the structure of a base cover of a control decoupling quick-change mechanism for a minimally invasive surgery single-hole surgical robot according to the present invention.

Fig. 9 is a schematic front view of the second embodiment of the decoupling structure of a double-headed instrument for the control decoupling of a single-hole surgical robot in minimally invasive surgery according to the present invention.

Fig. 10 is a schematic front view of a second embodiment of a single-head instrument decoupling structure of a quick-change mechanism for control decoupling of a single-hole surgery robot in minimally invasive surgery according to the present invention.

11-13 are partial enlarged views in FIG. 5 .

14-15 are partial enlarged views in FIG. 6 .

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Explanation of specific omitted labels in the following labels: 1_7～8_1 represent: 1_7, 2_1, 3_1, 4_1, 5_1, 6_1, 7_1, 8_1; 1_8～8_2 represent: 1_8, 2_2, 3_2, 4_2, 5_2 , 6_2, 7_2, 8_2; 1_9~8_3 represent: 1_9, 2_3, 3_3, 4_3, 5_3, 6_3, 7_3, 8_3; ; 1_4~8_4 represent: 1_4, 2_4, 3_4, 4_4, 5_4, 6_4, 7_4, 8_4; 2_4~8_4 represent: 2_4, 3_4, 4_4, 5_4, 6_4, 7_4, 8_4; Yes: 1_5, 2_5, 3_5, 4_5, 5_5, 6_5, 7_5, 8_5; 1_6~8_6 represent: 1_6, 2_6, 3_6, 4_6, 5_6, 6_6, 7_6, 8_6; 3_3~6_3 represent: 3_3, 4_3, 5_3, 6_3; 3_4～6_4 represent: 3_4, 4_4, 5_4, 6_4.

Embodiment one

1-3, 5-8, 11-15 to illustrate this embodiment, the quick-change mechanism for the control decoupling of a single-hole surgery robot in minimally invasive surgery includes a fixed seat 1_1, and The first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, and the sixth joint driving mechanism installed on the fixed seat 1_1 6. Composed of the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8.

The first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, and the seventh joint driving mechanism 7 and the eighth joint drive mechanism 8 are installed on the same base 1_3, the first joint drive mechanism 1, the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism The driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 are respectively connected to the surgical instrument actuator M through an interface clutch disc 1_4-8_4;

The first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, and the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 correspondingly drive the first joint actuator 9, the second joint actuator 10, the third joint actuator 11, the fourth joint actuator 12, and the fifth joint actuator M of the surgical instrument actuator M through steel wire ropes. Rotation of actuator 13, sixth joint actuator 14, seventh joint actuator 15 and eighth joint actuator 16;

The first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, and the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 have the same structure, each including a motor 1_7～8_1, the motor 1_7～8_1 is connected with the transmission shaft 1_9～8_3 through the shaft coupling 1_8～8_2, and the transmission shaft 1_9～8_3 and its The corresponding interface clutch discs 1_4～8_4 are connected;

Further, the first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism The two ends of the transmission shaft 1_9～8_3 of the joint driving mechanism 7 and the eighth joint driving mechanism 8 are axially fixed by bearings 1_5～8_5 and bearings 1_6～8_6, and the bearings 1_5～8_5 and bearings 1_6～8_6 are fixed on the base 1_3.

Further, the first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism The "D" shaped sections of the drive shafts 1_9-8_3 of the joint drive mechanism 7 and the eighth joint drive mechanism 8 form an interference fit, and the drive shafts 1_9-8_3 are circumferentially fixed through the "D" shaped sections.

Further, the first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, and the sixth joint driving mechanism 6 are described in the The base 1_3 is arranged in series in a single row; the seventh joint driving mechanism 7, the eighth joint driving mechanism 8 and the sixth joint driving mechanism 6 are arranged in parallel on the base 1_3.

Further, the interface base 1_3 includes a base shell 1_3_1 and a base cover 1_3_2, the base shell 1_3_1 is provided with two positioning bosses, and the two sides of the base shell 1_3_1 are respectively provided with two long bolt holes, The long bolt holes are connected to the base cover 1_3_2.

Further, there are two base covers 1_3_2, which are respectively installed and fixed on both sides of the base shell 1_3_1; a guide chute is designed on the base cover 1_3_2, and the top of the guide chute is in the shape of a "bell mouth" to facilitate surgical instruments. For the installation of the actuator M, the end of the guide chute on the base cover 1_3_2 and the bottom of the middle part are in the shape of an "arc", and the opening direction of the bottom of the "arc" shaped chute at the end and middle of the guide chute is perpendicular to the axis of the guide chute , and the end of the "arc"-shaped guide chute and the bottom of the middle groove form an "interference" fit with the fixed pin 1_3_4 of the surgical instrument actuator M, so as to prevent the fixed pin 1_3_4 of the surgical instrument actuator M from the base cover. 1_3_2 The end of the upper guide chute and the bottom of the middle groove "slip out", causing the surgical instrument actuator M to "separate" from the quick-change mechanism N;

Further, the surgical instrument actuator M can be installed on the quick-change mechanism N along the guide chute on the base cover 1_3_2; two long bolt holes are designed on the base cover 1_3_2, and the two long bolt holes on the base cover 1_3_2 are connected with the base The axis of the long bolt hole on the housing 1_3_1 is vertical to facilitate the installation of the base housing 1_3_2 and fix it on the base housing 1_3_1 to adjust the installation relative position of the base housing 1_3_2 and the base housing 1_3_1.

Further, the quick-change mechanism N interface base 1_3 for a minimally invasive surgical single-hole surgical robot also includes a locking mechanism 1_3_3 for fixing the surgical instrument actuator M to the interface base 1_3; Locking mechanism 1_3_3 comprises two groups, and each group comprises a locking hook, is respectively locking hook 1_3_3_1 and locking hook 1_3_3_2, and one end of locking hook 1_3_3_1 and locking hook 1_3_3_2 is rotatably installed on the same base cover 1_3_2, and the lock The other ends of the tight hook 1_3_3_1 and the locking hook 1_3_3_2 are provided with grooves, and the corresponding positions on the housing of the surgical instrument actuator M are provided with bosses, and the grooves on the locking hooks 1_3_3_1 and 1_3_3_2 are aligned with the corresponding positions on the housing of the surgical instrument actuator M. The boss cooperates to fix the actuator M of the surgical instrument.

The first joint drive mechanism 1 can use a ball screw mechanism 1_2, or a telescopic rod, or a lifting rod driven by hydraulic pressure, cylinder, etc., as long as it can realize the second joint drive mechanism 2 , the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 and the surgical instrument actuator M relative to The fixed base 1_1 fixedly connected with the first joint driving mechanism 1 can move axially along the axial direction of the arm segment 1 9_2 of the surgical instrument actuator M.

Working principle of the present invention:

The interface clutch disc 1_4 of the first joint drive mechanism 1 realizes clockwise rotation around the axis of the gear shaft 1_9: start the motor 1_7 on the first joint drive mechanism 1, make its output shaft rotate clockwise, and drive the first joint drive mechanism 1 The shaft coupling 1_8 and the gear shaft 1_9 rotate clockwise, which drives the interface clutch disc 1_4 on the first joint drive mechanism 1 to rotate clockwise around the axis of the gear shaft 1_9. The arm section one 9_2 of the surgical instrument actuator M actively swings clockwise relative to the connecting sleeve 1_10 of the end drive box so that the relative angle between the arm section one 9_2 and the connecting sleeve 1_10 of the end drive box changes.

Simultaneously start the motor 2_1 on the second joint drive mechanism 2, make its output shaft rotate clockwise, drive the shaft coupling 2_2, transmission shaft 2_3, interface clutch disc 2_4 on the second joint drive mechanism 2 to rotate clockwise, the first joint When 9_1 is rotating clockwise, the second joint 10_1 is also rotating clockwise. If the ratio is set properly, the second joint 10_1 and the first joint 9_1 can have the same rotation speed and the same rotation speed. When the first arm segment 9_2 actively swings clockwise with respect to the connecting sleeve 1_10 of the end drive box so that the relative angle between the first arm segment 9_2 and the connecting sleeve 1_10 of the end drive box changes, the second arm segment 10_2 is relative to the first 9_2 arm segment. The relative angle between arm section two 10_2 and arm section one 9_2 does not change without passive swinging, so as to achieve the purpose of "decoupling" through control.

Simultaneously start the motor 3_1 on the third joint drive mechanism 3, make its output shaft rotate clockwise, drive the shaft coupling 3_2, transmission shaft 3_3, interface clutch disc 3_4 on the third joint drive mechanism 3 to rotate clockwise, and the second joint When 10_1 is rotating clockwise, the third joint 11_1 is also rotating clockwise. If the ratio is set properly, the third joint 11_1 and the first joint 9_1 can have the "same rotation and the same rotation speed", and the operation mechanism M of the surgical instrument When the first arm segment 9_2 actively swings clockwise with respect to the connecting sleeve 1_10 of the end drive box so that the relative angle between the first arm segment 9_2 and the connecting sleeve 1_10 of the end drive box changes, the third arm segment 11_2 is relative to the second arm segment 10_2 The relative angle between the third arm section 11_2 and the second arm section 10_2 does not change without passive swinging, so as to achieve the purpose of "decoupling" through control.

Simultaneously start the motor 4_1 on the fourth joint drive mechanism 4, make its output shaft rotate clockwise, drive the shaft coupling 4_2, transmission shaft 4_3, interface clutch disc 4_4 on the fourth joint drive mechanism 4 to rotate clockwise, and the second joint When 10_1 is rotating clockwise, the fourth joint 12_1 is also rotating clockwise. If the ratio is set properly, the fourth joint 12_1 and the first joint 9_1 can have the "same direction of rotation and the same rotation speed", and the operation mechanism M of the surgical instrument When the first arm segment 9_2 actively swings clockwise with respect to the connecting sleeve 1_10 of the end drive box so that the relative angle between the first arm segment 9_2 and the connecting sleeve 1_10 of the end drive box changes, the fourth arm segment 12_2 is relative to the third arm segment 11_2 The relative angle between arm section four 12_2 and arm section three 11_2 does not change without passive swinging, so as to achieve the purpose of "decoupling" through control.

Simultaneously start the motor 5_1 on the fifth joint drive mechanism 5 to make its output shaft rotate clockwise, drive the shaft coupling 5_2, transmission shaft 5_3, and interface clutch disc 5_4 on the fifth joint drive mechanism to rotate clockwise, and the second joint When 10_1 is rotating clockwise, the fifth joint 13_1 is also rotating clockwise. If the ratio is set properly, the fifth joint 13_1 and the first joint 9_1 can "steer in the same direction and rotate at the same speed". When the first arm segment 9_2 actively swings clockwise relative to the connecting sleeve 1_10 of the end drive box so that the relative angle between the first arm segment 9_2 and the connecting sleeve 1_10 of the end drive box changes, the fifth arm segment 13_2 is relative to the fourth arm segment 12_2 The relative included angle between arm section five 13_2 and arm section four 12_2 does not change without passive swing, so as to achieve the purpose of realizing "decoupling" through control.

Simultaneously start the motor 6_1 on the sixth joint drive mechanism 6 to make its output shaft rotate clockwise, and drive the shaft coupling 6_2, transmission shaft 6_3, and interface clutch disc 6_4 on the sixth joint drive mechanism to rotate clockwise, and the second joint When 10_1 is rotating clockwise, the sixth joint 14_1 is also rotating clockwise. If the ratio is set properly, the sixth joint 14_1 and the first joint 9_1 can "steer in the same direction and rotate at the same speed". When the first arm segment 9_2 actively swings clockwise relative to the connecting sleeve 1_10 of the end drive box so that the relative angle between the first arm segment 9_2 and the connecting sleeve 1_10 of the end drive box changes, the sixth arm segment 14_2 is relative to the fifth arm segment 13_2 The relative angle between arm segment six 14_2 and arm segment five 13_2 does not change without passive swinging, so as to achieve the purpose of "decoupling" through control.

Simultaneously start the motor 7_1 on the seventh joint drive mechanism 7 to make its output shaft rotate clockwise, drive the shaft coupling 7_2, transmission shaft 7_3 and interface clutch disc 7_4 on the seventh joint drive mechanism 7 to rotate clockwise, and the second joint When 10_1 is rotating clockwise, the seventh joint 15_1 is also rotating clockwise. If the ratio is set properly, the seventh joint 15_1 and the first joint 9_1 can "steer in the same direction and rotate at the same speed". When the first arm segment 9_2 actively swings clockwise relative to the connecting sleeve 1_10 of the end drive box so that the relative angle between the first arm segment 9_2 and the connecting sleeve 1_10 of the end drive box changes, the seventh arm segment 15_2 is relative to the sixth arm segment 14_2 The relative angle between arm segment seven 15_2 and arm segment six 14_2 does not change without passive swinging, so as to achieve the purpose of "decoupling" through control.

Simultaneously start the motor 8_1 on the eighth joint drive mechanism 8 to make its output shaft rotate clockwise, drive the shaft coupling 8_2, transmission shaft 8_3, and interface clutch disc 8_4 on the eighth joint drive mechanism 8 to rotate clockwise, and the second joint When 10_1 is rotating clockwise, the eighth joint 16_1 is also rotating clockwise. If the ratio is set properly, the eighth joint 16_1 and the first joint 9_1 can "steer in the same direction and rotate at the same speed". When the first arm segment 9_2 actively swings clockwise relative to the connecting sleeve 1_10 of the end drive box so that the relative included angle between the first arm segment 9_2 and the connecting sleeve 1_10 of the end drive box changes, the eighth arm segment 16_2 is relative to the sixth arm segment 14_2 The relative angle between the eighth arm segment 16_2 and the sixth arm segment 14_2 does not change without passive swinging, so as to achieve the purpose of "decoupling" through control.

The interface clutch disc 1_4 of the first joint drive mechanism 1 realizes counterclockwise rotation around the axis of the gear shaft 1_9: the interface clutch disc 1_4 of the first joint drive mechanism 1 realizes counterclockwise rotation around the axis of the gear shaft 1_9 and the first joint drive The axis of the interface clutch disc 1_4 of the mechanism 1 around the axis of the gear shaft 1_9 realizes clockwise rotation "the transmission route is the same, and the steering is opposite".

The second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6 interface clutch discs 2_4-6_4 around the axes of the gear shafts 2_3-6_3 Realize clockwise rotation: realize the clockwise rotation "similar to the transmission mode" of the interface clutch disc 1_4 of the first joint drive mechanism 1 around the axis of the gear shaft 1_9, both of which are the active rotation of the joint drive mechanism, and the active rotation of the joint drive mechanism All the joint driving mechanisms at the back (close to the side of the M terminal joint of the surgical instrument actuator (joint seven 15_1 and joint eight 16_1)) actively rotate at the same time, and setting an appropriate ratio can make the active rotating joint driving mechanism behind (close to the surgical instrument perform All joint driving mechanisms of the terminal joints of mechanism M (one side of joint seven 15_1 and joint eight 16_1) are "steering in the same direction and at the same speed" as the active rotating joint driving mechanism, so that the surgical instruments controlled by the active rotating joint driving mechanism perform The arm segment of the mechanism M actively swings clockwise relative to the previous adjacent arm segment (the side away from the end joints (joint seven 15_1 and joint eight 16_1) of the surgical instrument actuator) so that the active rotation joint drive mechanism controls the When the relative angle between the arm segment of the surgical instrument actuator M and the previous adjacent arm segment (the side away from the end joint of the surgical instrument actuator M (joint seven 15_1 and joint eight 16_1)) changes, the active rotary joint drive mechanism All the joint drive mechanisms at the back (near the end joints of the surgical instrument actuator M (joint seven 15_1 and joint eight 16_1)) are correspondingly controlled by the arm segment of the surgical instrument actuator M relative to the operation controlled by the active rotary joint drive mechanism The arm segment of the instrument actuator M does not passively swing, so that all joint drive mechanisms behind the active rotation joint drive mechanism (the side near the end joint of the surgical instrument actuator M (joint seven 15_1 and joint eight 16_1)) are controlled accordingly The relative angle between the arm segment of the surgical instrument actuator M and the arm segment of the surgical instrument actuator M controlled by the active rotary joint drive mechanism does not change, so as to achieve the purpose of "decoupling" through control.

The second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6 interface clutch discs 2_4-6_4 around the axes of the gear shafts 2_3-6_3 Realize counterclockwise rotation: the interface clutch discs 2_4-6_4 of the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6 revolve around the gear shaft The axis of 2_3～6_3 realizes counterclockwise rotation and the interface clutch discs 2_4～ The axis of 6_4 around the gear shaft 2_3～6_3 realizes clockwise rotation "the transmission route is the same, and turns to the opposite".

The interface clutch disc 7_4 of the seventh joint driving mechanism 7 realizes clockwise rotation around the axis of the transmission shaft 7_3: start the motor 7_1 on the seventh joint driving mechanism 7 to make its output shaft rotate clockwise, driving the seventh joint driving mechanism 7 Coupling 7_2, transmission shaft 7_3, and interface clutch disc 7_4 on the top rotate clockwise, and arm section seven 15_2 of surgical instrument actuator M actively swings clockwise relative to arm section six 14_2 so that arm section seven 15_2 and arm section six 14_2 The relative included angle changes.

The axis of the interface clutch disc 7_4 of the seventh joint drive mechanism 7 around the sun gear shaft 7_3 realizes counterclockwise rotation: the axis of the interface clutch disc 7_4 of the seventh joint drive mechanism 7 around the axis of the sun gear shaft 7_3 realizes counterclockwise rotation and the seventh joint drive The axis of the interface clutch disc 7_4 of the mechanism 7 around the axis of the sun gear shaft 7_3 realizes clockwise rotation "the transmission route is the same, and the steering is opposite".

The interface clutch disc 8_4 of the eighth joint driving mechanism 8 realizes clockwise rotation around the axis of the transmission shaft 8_3: start the motor 8_1 on the eighth joint driving mechanism 8 to make its output shaft rotate clockwise, driving the eighth joint driving mechanism 8, the shaft coupling 8_2, transmission shaft 8_3, and interface clutch disc 8_4 rotate clockwise, and the arm section eight 16_2 of the surgical instrument actuator M actively swings clockwise relative to the arm section six 14_2 so that the arm section eight 16_2 and the arm section six 14_2 The relative included angle changes.

The interface clutch disc 8_4 of the eighth joint driving mechanism 8 realizes counterclockwise rotation around the axis of the sun gear shaft 8_3: the interface clutch disc 8_4 of the eighth joint driving mechanism 8 realizes counterclockwise rotation around the axis of the sun gear shaft 8_3 and the eighth joint drives The axis of the interface clutch disc 8_4 of the mechanism 8 around the axis of the sun gear shaft 8_3 realizes clockwise rotation "the transmission route is the same, and the steering is opposite".

Adjustment of the relative installation position between the base cover 1_3_2 and the base shell 1_3_1:

There are two long bolt holes designed on the base cover 1_3_2, and two long bolt holes are designed on both sides of the base shell 1_3_1, the two long bolt holes on the base cover 1_3_2 are connected with the long bolt holes on the base shell 1_3_1. Vertical, when the two base covers 1_3_2 are fixed on the base shell 1_3_1, the relative fixed positions of the base cover 1_3_2 and the base shell 1_3_1 can be adjusted by adjusting the relative fixing positions of the base shell 1_3_2 and the base shell 1_3_1. Location.

Installation and disassembly between the surgical instrument actuator M and the joint drive mechanism N:

When the surgical instrument actuator M is installed in the joint drive mechanism N, the surgical instrument actuator M slides into the end of the guide chute and the bottom of the middle groove on the base cover 1_3_2 along the top of the "bell mouth"-shaped guide chute on the base cover 1_3_2 , the end of the guide chute on the base cover 1_3_2 and the bottom of the middle groove form an "interference" fit with the fixed pin shaft of the surgical instrument actuator M, and at the same time rotate the two locking hooks 1_3_3_1 and 1_3_3_2 on the two base covers 1_3_2 respectively, Make the grooves on the locking hooks 1_3_3_1 and 1_3_3_2 cooperate with the bosses at the corresponding positions on the housing of the surgical instrument actuator M to prevent the fixed pin shaft 1_3_4 of the surgical instrument actuator M from "slipping" from the guide chute above the base cover 1_3_2. Out", resulting in the "separation" of the surgical instrument actuator M from the joint drive mechanism N. At the same time, the two positioning bosses on the base shell 1_3_1 can position and fix the actuator M of the surgical instrument;

When the surgical instrument actuator M is separated from the joint drive mechanism N, rotate the two locking hooks 1_3_3_1, 1_3_3_2 above the two base covers 1_3_2 at the same time, so that the grooves on the locking hooks 1_3_3_1, 1_3_3_2 are aligned with the surgical instrument actuator The boss at the corresponding position on the M shell is separated, and the surgical instrument actuator M slides out of the base cover 1_3_2 from the top of the guide chute in the shape of a "bell mouth" along the end of the guide chute on the base cover 1_3_2 and the bottom of the middle groove, so that the surgical instrument The actuator M is "decoupled" from the joint drive N.

Example 2

This embodiment will be described with reference to Figures 9 to 10. On the basis of the technical solution of Example 1, the layout of the quick-change mechanism for control decoupling of a single-hole surgery robot in minimally invasive surgery can be changed to Figures 9 to 10 Structure in 10. That is to say, the layout of the quick-change mechanism for the control decoupling of the minimally invasive surgical single-hole surgical robot in the technical solution of the first embodiment is adjusted to the technical solution of the second embodiment, and at the same time, the layout of the transmission box of the surgical instrument actuator M is also adjusted. Adjusted to the technical solution of the second embodiment, the decoupling can also be correctly driven and controlled.

The above-mentioned quick-change mechanism N for control decoupling of a single-hole surgery robot in minimally invasive surgery can be applied to the drive and control decoupling of double-headed instruments, such as the drive and control decoupling of clamping instruments and shearing instruments; Remove the eighth joint drive mechanism 8 of the above-mentioned quick-change mechanism for the control decoupling of the minimally invasive surgery single-hole surgery robot, as shown in Figure 4, the quick-change quick-change mechanism for the control decoupling of the minimally invasive surgery single-hole surgery robot can be removed. The mechanism is applied to the decoupling of drive and control of single-head instruments, such as the decoupling of drive and control of cutting instruments and 30° laparoscopic instruments. By removing the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 of the above-mentioned quick-change mechanism for decoupling the control of the minimally invasive surgery single-hole surgery robot, the control decoupling for the minimally invasive surgery single-hole surgery robot can be decoupled The quick-change mechanism is applied to the drive and control decoupling of 360° endoscopic instruments.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (9)

1. The quick-change mechanism for the control decoupling of a single-hole surgical robot is characterized in that it includes a fixed seat on which the first, second, third, fourth, fifth, Sixth, seventh and eighth joint drive mechanism; The first, second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are installed on the same base, and the first, second, third and fourth . The fifth, sixth, seventh and eighth joint drive mechanisms are respectively connected to the surgical performing instrument through an interface clutch disc; The first, second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms respectively drive the first, second, third and fourth joints of the surgical instrument actuator M through steel wire ropes. Fourth, fifth, sixth, seventh and eighth joint actuator rotation. 2. The quick-change mechanism for control decoupling of a single-hole surgical robot as claimed in claim 1, wherein said first, second, third, fourth, fifth, sixth, first The seventh and eighth joint driving mechanisms have the same structure, and each includes a motor, which drives the transmission shaft to rotate, and the transmission shaft is connected to the corresponding interface clutch disc. 3. The quick-change mechanism for the control decoupling of a single-hole surgical robot as claimed in claim 2, wherein said first, second, third, fourth, fifth, sixth, first The two ends of the transmission shafts of the seventh and eighth joint drive mechanisms are axially fixed by bearings, and the bearings are fixed on the base. 4. The quick-change mechanism for the control decoupling of a single-hole surgical robot as claimed in claim 2, wherein the first, second, third, fourth, fifth, sixth, and first The transmission shaft sections of the seventh and eighth joint drive mechanisms are "D" shaped, and the transmission shafts are circumferentially fixed through the "D" shaped section. 5. The quick-change mechanism for control decoupling of a single-hole surgical robot as claimed in claim 1, wherein said first, second, third, fourth, fifth, sixth, first The seventh and eighth joint driving mechanisms are arranged in series in a single row on the base; the seventh joint driving mechanism, the eighth joint driving mechanism and the sixth joint driving mechanism are arranged in parallel on the said base. 6. The quick-change mechanism for control decoupling of a single-hole surgical robot according to claim 1, wherein the interface base includes a base shell and a base cover, and the base shell is provided with There are two positioning bosses, and two long bolt holes are respectively provided on both sides of the base shell, and the long bolt holes are connected with the base cover. 7. The quick-change mechanism for the control decoupling of a single-hole surgical robot as claimed in claim 6, wherein there are two base covers, which are respectively installed and fixed on both sides of the base shell; The guide chute is designed on the cover, and the top of the guide chute is in the shape of "bell mouth"; the end of the guide chute and the bottom of the middle part of the base cover are in the shape of an "arc", and the end of the guide chute and the "arc" shaped chute in the middle The opening direction of the bottom of the groove is perpendicular to the axial direction of the guide chute, and the end of the "arc" shaped guide chute and the bottom of the middle groove form an "interference" fit with the fixed pin of the surgical instrument actuator. 8. The quick-change mechanism for the control decoupling of a single-hole surgical robot as claimed in claim 6, wherein two long bolt holes are designed on the base cover, and the two long bolt holes on the base cover The long hole axis of the long bolt hole above the hole is vertical to the base shell, so that the relative position of the base cover and the base shell can be adjusted when the base cover is installed and fixed on the base shell. 9. The quick-change mechanism for the control decoupling of a single-hole surgical robot as claimed in claim 6, further comprising a locking mechanism for fixing the surgical instrument actuator to the interface base; The locking mechanism includes two groups, each group includes a locking hook, one end of the two locking hooks is rotatably mounted on the same base cover, the other end of the locking hook is provided with a groove, and the corresponding position on the surgical instrument actuator shell is A boss is provided, and the groove on the locking hook cooperates with the boss at the corresponding position on the housing of the surgical instrument actuator to fix the surgical instrument actuator.