CN113648062B

CN113648062B - Medical mechanical arm

Info

Publication number: CN113648062B
Application number: CN202010405372.8A
Authority: CN
Inventors: 肖汉杰
Original assignee: Huzhou University
Current assignee: Huzhou University
Priority date: 2020-05-12
Filing date: 2020-05-12
Publication date: 2026-02-03
Anticipated expiration: 2040-05-12
Also published as: CN113648062A

Abstract

This invention discloses a medical robotic arm, comprising a drive unit, a flexible arm, a wrist joint, and a multifunctional composite surgical instrument tip. The multifunctional composite surgical instrument tip penetrates the human body to perform surgical procedures. The tip includes a clamping unit, an outer sleeve, an inner rotating cylinder, a lighting lamp, and a camera. The clamping unit is used to clamp relevant tissues; the inner rotating cylinder can drive the clamping unit to rotate to adjust the clamping angle; the lighting lamp provides illumination during the procedure, and the camera provides video recording during the procedure. Both the lighting lamp and the camera can be adjusted in angle and position. This invention uses a flat clamping method for reliable and stable clamping without damaging organs. Simultaneously, the angles of the camera and lighting devices can be adjusted over a wide range, which is beneficial for precise surgical procedures. This invention has a compact and reasonable structural layout, strong practicality, and significant economic and social value.

Description

Medical mechanical arm

[ Field of technology ]

The invention relates to a medical mechanical arm, in particular to a multifunctional composite medical surgical instrument tail end, and belongs to the field of medical instruments.

[ Background Art ]

Medical robots are advanced devices currently used in teleoperation, which have the characteristics of precise operation, small trauma and rapid healing, and estimated annual output value in the field of 7000 hundred million dollars. At present, in the field of medical robots, foreign companies with mature researches have intuitive surgery/Olympus/Yisikang/Cohui/Royal Philips, domestic minimally invasive medical treatment/Shenzhen city Jingfeng medical treatment/Beijing Sharp/Chengdu middle-Kobusi medical robot limited company, and domestic Shanghai traffic university/Harbin industry/Tianjin university have more researches. However, with respect to the current products and patents, the end clamping jaw adopts a scissor clamping mode, such as the patent CN103687553A, CN106137397A, CN109640856A, CN109475361a, which is firstly used for closely clamping at the proximal hinge, so that the viscera are easily damaged in some operation operations, meanwhile, the lighting and camera device in the current products and patents is distributed and not flexible enough to adjust, such as the patent CN102905641a (shown in fig. 8), the arrangement mode not only needs a larger abdominal cavity space (which is difficult to realize in some operation operations), but also the shadow exists in the lighting, so that the shadow is not clear enough, the camera is not completely clear enough due to blocking, and the precision operation is not favored.

[ Invention ]

Aiming at the problems, the invention provides a multifunctional composite medical surgical instrument tail end which is clamped in a flat clamping mode, and angles of an imaging device and an illumination device are adjustable. The specific technical scheme of the invention is as follows:

The medical mechanical arm comprises a driving part, a flexible arm, a wrist joint part and a tail end of a multifunctional composite medical surgical instrument, and is characterized in that the tail end of the multifunctional composite medical surgical instrument comprises a clamping part, an outer sleeve, an inner rotary drum, an illuminating lamp and a camera, wherein the inner rotary drum is arranged in the outer sleeve and rotates along the circumferential direction relative to the outer sleeve, the clamping part is arranged at the top end of the inner rotary drum, the outer sleeve comprises an outer circumferential drum wall and an outer sleeve end, the outer sleeve end comprises an illuminating lamp moving groove and a camera moving groove, and the illuminating lamp and the camera can move in the illuminating lamp moving groove and the camera moving groove respectively.

The inner cylinder comprises an inner cylinder body and a plurality of bearings, the bearings are sequentially sleeved on the inner cylinder body along the longitudinal direction, the inner cylinder body comprises a clamping jaw mounting groove arranged at the top end, a bevel gear part arranged at the bottom and a weight reduction empty groove arranged at the middle inner position, the clamping part is arranged in the clamping jaw mounting groove, the clamping part further comprises two clamping jaws, clamping jaw seats fixedly connected with the clamping jaws, a screw rod rotationally connected in the clamping jaw mounting groove, a driving wheel and a driving wire, the screw rod comprises two sections with opposite left and right spiral directions, the two clamping jaw seats are respectively sleeved at two ends of the screw rod, the driving wheel is fixedly arranged at one end of the screw rod, and the driving wire penetrates through a wire penetrating hole and drives the driving wheel to rotate.

Further, the outer sleeve end still includes bearing mounting groove, tip mounting hole, rotates jack, camera and rotates the tooth arc, the light rotates the tooth arc, the bearing mounting groove is used for installing rolling bearing, the tip mounting hole allows interior barrel top to pass, the camera rotate the tooth arc, the light rotates the tooth arc with light removes groove, camera and removes the groove and correspond the setting.

Further, the inner cylinder body further comprises a plurality of rotating slots which are formed in the circumferential direction, and the rotating slots are formed in the lower end of the bearing in sequence along the longitudinal direction.

The medical mechanical arm further comprises a fluted disc, the fluted disc is corresponding to the bearing and sleeved on the bearing, the fluted disc comprises a fluted disc straight tooth part and a fluted disc taper tooth part, the illuminating lamp and the camera comprise a supporting rod and a planetary gear, the planetary gear is meshed with the fluted disc straight tooth part, the camera rotating tooth arc and the illuminating lamp rotating tooth arc, the medical mechanical arm further comprises an upper bevel gear and a bottom bevel gear, the upper bevel gear is corresponding to the fluted disc and meshed with the fluted disc taper tooth part, and the bottom bevel gear is meshed with the taper tooth part at the bottom of the inner cylinder.

Further, upper portion bevel gear fixed mounting is on rotating the bracing piece, it is used for rotating to peg graft to rotate bracing piece one end and is equipped with rotation grafting portion in the outer sleeve tip rotate in the jack, it is equipped with the bulb to rotate the bracing piece other end for rotating to peg graft in the interior barrel rotate in the slot, it is close to rotate the bracing piece the one end of grafting portion still fixedly provided with the drive wheel that corresponds, the drive silk drive the drive wheel rotates.

Further, bottom bevel gear fixed mounting is on the bottom bevel gear axis of rotation, bottom bevel gear axis of rotation both ends all have and rotate grafting portion, and it is used for rotating the grafting in the outer sleeve tip rotate in the jack, the one end of bottom bevel gear axis of rotation is still fixed to be provided with corresponding drive wheel, the driving wire drive the drive wheel rotates.

Further, the number of the illuminating lamps and the number of the cameras are four.

Further, the central angle corresponding to the single illumination lamp moving groove is 50 degrees, and the central angle corresponding to the single camera moving groove is 110 degrees.

The invention has the following beneficial technical effects that the flat clamping mode is adopted to clamp reliably and stably, the viscera are not damaged, and meanwhile, the angles of the camera device and the lighting device can be adjusted in a large range, so that the invention is beneficial to accurate operation. The invention has compact and reasonable structural layout and strong practicability, and has great economic and social values.

[ Description of the drawings ]

FIG. 1 is a schematic overall view of a surgical instrument of the present invention;

FIG. 2 is a schematic drawing of an end of a surgical instrument of the present invention;

FIG. 3 is a partial cross-sectional view of FIG. 2;

FIG. 4 is an exploded view of FIG. 2;

FIG. 5a is a front cross-sectional view of the outer sleeve;

FIG. 5b is a top view of the outer sleeve;

FIG. 6 is a front cross-sectional view of the inner drum;

FIG. 7 is a schematic drawing of a transmission configuration (without an outer sleeve);

Fig. 8 is an enlarged view of a in fig. 7.

[ Detailed description ] of the invention

The specific characteristics of the reference numerals in the drawings of the present invention are described, wherein 1-driving part, 2-flexible arm, 3-wrist joint part, 4-multifunctional composite medical surgical instrument end, 5-clamping part, 51-clamping jaw, 52-clamping jaw seat, 53-screw rod, 54-driving wheel, 55-driving wire, 6-outer sleeve, 61-outer circumferential cylinder wall, 62-outer sleeve end, 63-bearing mounting groove, 64-illumination lamp moving groove, 65-camera moving groove, 66-end mounting hole, 67-rotating jack, 68-camera rotating tooth arc, 69-illumination lamp rotating tooth arc, 7-inner drum, 71-inner drum, 72-clamping jaw mounting groove, 73-bearing, 74-rotating slot, 75-conical tooth part, 76-weight reducing hollow groove, 77-threading hole, 78-bottom bevel gear, 79-bottom bevel gear rotating shaft, 8-illumination lamp, 9-camera, 10-rotating bearing, 11-supporting rod, 12-121-fluted disc tooth part, 122-fluted disc straight tooth part, 13-gear, 14-upper part, 15-ball joint bevel gear, 16-ball joint part, 17-ball joint part and 17-ball joint part.

Referring to fig. 1, the invention discloses a medical mechanical arm, which comprises a driving part 1, a flexible arm 2, a wrist joint part 3 and a multifunctional composite medical surgical instrument tail end 4, wherein the multifunctional composite medical surgical instrument tail end 4 penetrates into a human body to perform surgical operation.

Fig. 2-4 show the overall structure of the end 4 of the multifunctional composite medical surgical instrument of the present invention in various forms, which comprises a clamping part 5, an outer sleeve 6, an inner drum 7, an illumination lamp 8 and a camera 9, wherein the clamping part 5 is a main functional component for the operation for clamping related tissues, the outer sleeve 6 and the inner drum 7 play a role of overall support on the one hand, and on the other hand, realize corresponding functions by utilizing a transmission structure arranged inside the inner drum 7, and the specific transmission structure and the corresponding functions will be described later in detail, and the illumination lamp 8 is used for providing illumination during the operation so that the shooting of the camera 9 is clearer or the observation of an auxiliary doctor standing at the operating table is clearer.

Further, the clamping part 5 is provided at the top end of the inner drum 7, and the inner drum 7 is provided inside the outer sleeve 6 and rotates in the circumferential direction with respect to the outer sleeve 6, so that the clamping part 5 can also rotate due to the rotation of the inner drum 7, thereby adjusting the clamping angle. The outer sleeve 6 comprises an outer circumferential cylinder wall 61 and an outer sleeve end 62 positioned at the end, the outer sleeve end 62 comprises an illumination lamp moving groove 64 and a camera moving groove 65, and the illumination lamp 8 and the camera 9 can respectively move in the illumination lamp moving groove 64 and the camera moving groove 65 at 62 so as to adjust relative angles, so that omnidirectional illumination and multi-angle shooting can be provided.

Referring to fig. 5a-b, the outer sleeve end 62 of the outer sleeve 6 further comprises a bearing mounting groove 63, an end mounting hole 66, wherein the bearing mounting groove 63 is used for mounting the rotary bearing 10, and the end mounting hole 66 allows the top of the inner drum 7 to pass through, so that the inner drum 7 is assembled with the outer sleeve 6 by means of the rotary bearing 10 in a positioning way, and smooth rotation is ensured. It can be further seen that the inner wall of the outer circumferential cylinder wall 61 of the outer sleeve 6 is provided with a rotation insertion hole 67, a camera rotation tooth arc 68 and a lighting lamp rotation tooth arc 69, wherein the camera rotation tooth arc 68 and the lighting lamp rotation tooth arc 69 are arranged corresponding to the positions and the numbers of the lighting lamp moving grooves 64 and the camera moving grooves 65, preferably two lighting lamps 8 and two cameras 9, and then the two lighting lamp moving grooves 64, the two camera moving grooves 65, the two lighting lamp rotation tooth arcs 69 and the two camera rotation tooth arcs 68 are obvious. In the actual operation process, we find that the adjusting angle of shooting is large and the requirement of illumination adjusting angle is not harsh, so that the central angle corresponding to the single illumination lamp moving groove 64 is set to be 50 degrees, the central angle corresponding to the single camera moving groove 65 is set to be 110 degrees, meanwhile, the effect of the shadowless lamp can be formed as long as the adjusting angles of the two illumination lamps are proper, and the imaging device is quite beneficial to Shi Shufei, and the images shot by the two cameras in real time can be fused through the processing of an image algorithm, so that a complete and clear operation image is obtained, and the smooth operation is ensured.

Referring to fig. 6 and referring to fig. 4 again, the inner cylinder 7 includes an inner cylinder 71 and a plurality of bearings 73, the bearings 73 are sequentially sleeved on the inner cylinder 71 along the longitudinal direction, preferably the bearings 73 are four, the inner cylinder 71 includes a jaw mounting groove 72 disposed at the top end and used for accommodating the clamping part 5, the inner cylinder 71 further includes a tapered tooth part 75 disposed at the bottom and a weight-reducing empty groove 76 disposed at the middle inner position, the weight-reducing empty groove 76 is effective for weight reduction because the surgical instrument is required to be light in end, the clamping part 5 further includes two jaws 51, jaw seats 52 fixedly connected with the jaws 51, a screw 53 rotatably connected in the jaw mounting groove 72, a driving wheel 54 and a driving wire 55, the screw 53 is a double-spiral screw, namely, the two sections with opposite left and right spiral directions are included, the two jaw seats 52 are respectively sleeved at two ends of the screw 53, the driving wheel 54 is fixedly disposed at one end of the screw 53, the driving wire 55 penetrates through the wire hole 77 and drives the driving wheel 54 to rotate, the clamping part 5 specifically includes the driving wire 54, the driving wheel 54 rotates, the driving wheel 54 is fixedly connected with the jaw seat 52, the driving wire 52 is fixedly connected with the jaw seat 52, the driving wire 53, the driving wheel 53 is rotatably drives the driving wire 55, and the driving wire 53 is driven to rotate, and the two jaw seats are driven to rotate, or the screw 53 and are driven to move by the screw seat 52 and so far from the screw seat 52 is far from the screw 52.

The inner cylinder 71 further includes a plurality of rotating slots 74 formed around the circumferential direction, and the rotating slots 74 are sequentially formed at the lower end of the bearing 73 in the longitudinal direction.

The following describes in detail the driving structure, i.e. how the rotation of the inner drum 7 is achieved and the movement of the illumination lamp 8 and the camera 9 is achieved, with reference to fig. 7-8.

The invention further comprises a fluted disc 12, the fluted disc 12 is corresponding to the bearing 73 in number and sleeved on the bearing 73, the fluted disc 12 comprises a fluted disc straight tooth part 121 and a fluted disc taper tooth part 122, the illuminating lamp 8 and the camera 9 respectively comprise a supporting rod 11 and a planetary gear 13, the supporting rod 11 is used for supporting the illuminating lamp 8 and the camera 9, wiring is provided in the supporting rod, as for the length of the supporting rod 11, as can be seen from the figure 7, the planetary gear 13 is meshed with the fluted disc straight tooth part 121 and the camera rotation tooth arc 68 or the illuminating lamp rotation tooth arc 69 according to the corresponding fluted disc 12 positions, so as to form a planetary gear train.

The medical mechanical arm further comprises upper bevel gears 14, the number of the upper bevel gears 14 corresponds to that of fluted discs 12 and is meshed with fluted disc bevel gear parts 122, meanwhile, the upper bevel gears 14 are fixedly arranged on rotating support rods 16, one ends of the rotating support rods 16 are provided with rotating plug-in parts 15 which are used for being rotationally plugged in rotating plug-in holes 67 of outer sleeve end parts 62, the other ends of the rotating support rods 16 are provided with ball heads 17 which are used for being rotationally plugged in rotating plug-in grooves 74 of inner cylinder bodies 71, one ends of the rotating support rods 16, which are close to the rotating plug-in parts 15, are fixedly provided with corresponding driving wheels 54, driving wires 55 drive the driving wheels 54 to rotate, the rotating support rods 16 are driven to rotate, the rotating support rods 16 drive the upper bevel gears 14 to rotate in the rotating process, the fluted discs 12 drive planetary gears 13 to rotate along camera rotating tooth arcs 68 or illuminating lamp rotating tooth arcs 69, and therefore positions of illuminating lamps 8 and cameras 9 in the illuminating lamp moving grooves 64 and the camera moving grooves 65 can be adjusted.

Similarly, the application further comprises a bottom bevel gear 78, the bottom bevel gear 78 is meshed with the bevel gear part 75 at the bottom of the inner cylinder 71, the bottom bevel gear 78 is fixedly arranged on the bottom bevel gear rotating shaft 79, both ends of the bottom bevel gear rotating shaft 79 are respectively provided with a rotating inserting part 15 which is used for being rotationally inserted into the rotating inserting hole 67 of the outer sleeve end 62, one end of the bottom bevel gear rotating shaft 79 is fixedly provided with a corresponding driving wheel 54, the driving wire 55 drives the driving wheel 54 to rotate, the driving wheel 54 drives the bottom bevel gear rotating shaft 79 to rotate, the bottom bevel gear 78 drives the bottom bevel gear 78 to rotate through meshing with the bevel gear part 75 at the bottom of the inner cylinder 71, and the inner drum 7 drives the clamping part 5 to rotate so as to adjust the clamping direction.

During the rotation of the inner drum 7, the toothed disc 12 will not rotate following the rotation of the inner drum 7 due to the presence of the bearing 73 and the self-locking function of the tooth drive system formed by (the toothed disc 12, the planetary gear 13, the camera rotation arc 68 or the illumination lamp rotation arc 69, the upper bevel gear 14), and the ball 17 at the other end of the rotation support rod 16 will slide in the rotation slot 74 relative to the inner drum 7 during the rotation of the inner drum 7.

It should be noted that, of course, the wires led out from the inside of the support rod 11 by the illumination lamp 8 and the camera 9 are led into the driving part 1 through the wrist joint part 3 and the flexible arm 2, and the wires can be in a completely relaxed state, so that when other parts are moved to squeeze and twist the wires, no functional disorder is caused and the movement of the other parts is not hindered. Of course, it is also entirely possible to use a case without wires, i.e. to provide the supporting bar 11 with relevant electronic components, such as a battery, a circuit board, and a signal transmitting and receiving device, which is entirely possible because of the ever smaller and integrated electronic components.

According to the technical scheme, the novel clamping jaw is ingenious in design, simple in structure, compact and reasonable in layout, capable of effectively guaranteeing that the clamping jaw does not clamp viscera, adjustable in illuminating lamp and camera, high in practicality and high in economic and social values.

Finally, it should be noted that all the inventions without departing from the core technical concept of the present invention should be considered as being included in the protection scope of the present invention.

Claims

1. A medical mechanical arm comprises a driving part (1), a flexible arm (2), a wrist joint part (3) and a multifunctional composite medical surgical instrument tail end (4), and is characterized in that the multifunctional composite medical surgical instrument tail end (4) comprises a clamping part (5), an outer sleeve (6), an inner rotary drum (7), an illuminating lamp (8) and a camera (9), the inner rotary drum (7) is arranged inside the outer sleeve (6) and rotates relative to the outer sleeve (6) along the circumferential direction, the clamping part (5) is arranged at the top end of the inner rotary drum (7), the outer sleeve (6) comprises an outer circumferential cylinder wall (61) and an outer sleeve end (62), and the outer sleeve end (62) comprises an illuminating lamp moving groove (64), The camera moving groove (65), the illuminating lamp (8) and the camera (9) can move in the illuminating lamp moving groove (64) and the camera moving groove (65) respectively, the inner rotary drum (7) comprises an inner cylinder body (71) and a plurality of bearings (73), the bearings (73) are sleeved on the inner cylinder body (71) in sequence along the longitudinal direction, the inner cylinder body (71) comprises a clamping jaw mounting groove (72) arranged at the top end, a bevel gear part (75) arranged at the bottom and a weight-reducing empty groove (76) arranged at the middle inner position, the clamping part (5) is arranged in the clamping jaw mounting groove (72), and the clamping part (5) further comprises two clamping jaws (51), The clamping jaw comprises clamping jaw seats (52) fixedly connected with the clamping jaw (51), a screw rod (53) rotatably connected in a clamping jaw mounting groove (72), a driving wheel (54) and a driving wire (55), wherein the screw rod (53) comprises two sections with opposite left and right spiral directions, the two clamping jaw seats (52) are respectively sleeved at two ends of the screw rod (53), the driving wheel (54) is fixedly arranged at one end of the screw rod (53), the driving wire (55) penetrates through a wire penetrating hole (77) and drives the driving wheel (54) to rotate, the end part (62) of the outer sleeve also comprises a bearing mounting groove (63) and an end part mounting hole (66), and the inner wall of the outer circumferential cylinder wall (61) comprises a rotary jack (67), The camera rotating tooth arc (68) and the illuminating lamp rotating tooth arc (69), the bearing mounting groove (63) is used for mounting a rotating bearing (10), the end mounting hole (66) allows the top of the inner cylinder body (71) to penetrate through, the camera rotating tooth arc (68), the illuminating lamp rotating tooth arc (69) and the illuminating lamp moving groove (64) are correspondingly arranged, the camera moving groove (65), the inner cylinder body (71) further comprises rotating slots (74) which are formed in a circumferential direction, the rotating slots (74) are multiple and are sequentially formed at the lower end of the bearing (73) in the longitudinal direction, the bearing mounting groove further comprises fluted discs (12), the fluted discs (12) correspond to the bearing (73) and are sleeved on the bearing (73), each fluted disc (12) comprises a fluted disc straight tooth part (121) and a fluted disc tooth part (122), each illuminating lamp (8) and each camera (9) comprises a supporting rod (11), the medical mechanical arm further comprises upper bevel gears (14) and bottom bevel gears (78), wherein the number of the upper bevel gears (14) corresponds to that of the fluted disc (12) and is meshed with the fluted disc bevel gear (122), and the bottom bevel gears (78) are meshed with the bevel gear (75) at the bottom of the inner cylinder body (71).

2. A medical mechanical arm according to claim 1, wherein the upper bevel gear (14) is fixedly mounted on a rotary support rod (16), one end of the rotary support rod (16) is provided with a rotary inserting part (15) for being rotatably inserted into the rotary inserting hole (67) of the outer sleeve end (62), the other end of the rotary support rod (16) is provided with a ball head (17) for being rotatably inserted into the rotary inserting hole (74) of the inner cylinder (71), one end, close to the rotary inserting part (15), of the rotary support rod (16) is fixedly provided with a corresponding driving wheel (54), and the driving wire (55) drives the driving wheel (54) to rotate.

3. A medical mechanical arm according to claim 2, wherein the bottom bevel gear (78) is fixedly mounted on a bottom bevel gear rotating shaft (79), both ends of the bottom bevel gear rotating shaft (79) are provided with rotating inserting parts (15) for being rotatably inserted into the rotating inserting holes (67) of the outer sleeve end part (62), one end of the bottom bevel gear rotating shaft (79) is fixedly provided with a corresponding driving wheel (54), and the driving wire (55) drives the driving wheel (54) to rotate.

4. A medical manipulator according to claim 1, wherein the number of illumination lamps (8) is two and the number of cameras (9) is two.

5. The medical manipulator according to claim 4, wherein the central angle corresponding to the single illumination lamp moving groove (64) is 50 degrees, and the central angle corresponding to the single camera moving groove (65) is 110 degrees.