CN114601563B - Structure of passive part of slave mobile manipulator of surgical system - Google Patents

Abstract

The present invention relates to the field of surgical robot technology, and in particular to a structure of a passive part of a hand robot arm of a surgical system. The structure includes a mounting seat and a first robot arm, a second robot arm, a third robot arm and a fourth robot arm, wherein the mounting base points of the first robot arm, the second robot arm, the third robot arm and the fourth robot arm on the mounting seat are located on the same circle; the first robot arm and the third robot arm are symmetrically arranged along an axis of symmetry, and the second robot arm and the fourth robot arm are symmetrically arranged along the axis of symmetry, and the first robot arm and the third robot arm are located on the inner side of the second robot arm and the fourth robot arm; the first robot arm, the second robot arm, the third robot arm and the fourth robot arm are all hinged in sequence by a first rod body, a second rod body and a third rod body, and the hinges at the hinges are linked by wire transmission, and the second rod body is always in a translational state and parallel to the axis of symmetry. The present invention can make the functions of the robot arm universal, and is convenient for functional adjustment before and during surgery.

Description

A surgical system structure from the passive part of the hand robot arm

Technical Field

The present invention relates to the technical field of surgical robots, and in particular to a structure of a passive part of a surgical system slave robot arm.

Background Art

Compared with traditional open surgery, minimally invasive surgery causes smaller incisions, which is conducive to the rapid recovery of patients. However, minimally invasive surgery inevitably encounters some traditional problems, such as inaccurate force feedback, lack of three-dimensional vision, fulcrum effect, lack of wrist joint movement, etc. The rapid development of robot-assisted minimally invasive surgery has better solved the above problems. In addition, doctors can perform minimally invasive surgery by remotely operating surgical robots, which greatly relieves doctors' fatigue and improves the reliability and quality of surgery. At the same time, the robotic surgery system integrates many advanced technologies such as robotics, virtual and augmented reality, image processing, ergonomics, machine learning, etc., further expanding the ability of human hand-eye coordination, thereby reducing the difficulty of surgery, improving the quality of surgery, and enabling patients to recover quickly after surgery.

The hand part of the robotic surgery system, that is, the part close to the operating table where the patient is operated on, usually has two to four robotic arms. The robotic arms are divided into active and passive parts. During the preoperative adjustment stage, the relative position relationship of the parts of the passive part of the robotic arm is adjusted so that the distal fixed point of the active part coincides with the puncture hole. At the same time, not only should the passive part be avoided from interfering, but also as much space as possible should be left between the robotic arms to prevent the active part of the robotic arm from colliding during the operation. Therefore, the structural layout of the passive part of the robotic arm is particularly important and plays a vital role in the quality of the operation.

For the four-arm robotic surgical system, due to the limited space around the operating table, the passive part of the robotic arm needs to be positioned before surgery in a limited space. The mainstream product with the largest stock on the market is the Da Vinci Si surgical system, whose four robotic arms can only be used for specific purposes and cannot be used universally. The middle arm can only be used as an imaging arm, arms 1 and 2 on both sides of the middle arm can only be used as main instrument arms, and arm 3 can only be used as an auxiliary instrument arm. The single function of the robotic arm limits the type and difficulty of surgery. In addition, depending on the type of surgery and the drilling situation, the position of arm 3 must be adjusted to the left of arm 2 or the right of arm 1 before surgery, and the connecting rod angle of arm 1 must be adjusted accordingly. This undoubtedly increases the workload of preoperative adjustments and places higher training requirements on medical staff.

Therefore, a new passive part structure layout scheme of the robot arm is urgently needed, which can make the functions of the robot arm universal and facilitate the function adjustment before and during the operation. In this way, it can not only broaden the types of surgeries, but also better complete various difficult surgeries, so that more patients can recover faster and better.

Summary of the invention

The purpose of the present invention is to provide a structure of the passive part of a surgical system slave robotic arm, which overcomes the shortcomings of the aforementioned prior art. The functions of each robotic arm are universal, and each arm can be used as an imaging arm, a main instrument arm, or an auxiliary instrument arm. This not only reduces the workload of preoperative adjustments, but also allows the functions of each arm to be adjusted in time before and during the operation according to the actual situation of the operation, thereby better completing the operation and allowing the patient to recover quickly.

The technical solution adopted by the present invention to solve its technical problem is:

A structure of a passive part of a surgical system hand robot arm, comprising a mounting seat and a first robot arm, a second robot arm, a third robot arm and a fourth robot arm hinged on the mounting seat, wherein:

The installation base points of the first robotic arm, the second robotic arm, the third robotic arm and the fourth robotic arm on the installation base are located on the same circle, and the starting spacing of the passive parts of each robotic arm can be conveniently adjusted by controlling the radius of the circle; the first robotic arm and the third robotic arm are symmetrically arranged along the symmetry axis, and the second robotic arm and the fourth robotic arm are symmetrically arranged along the symmetry axis, where the symmetry axis refers to a symmetry line extending from the center of the circle, which is a virtual line, and the first robotic arm and the third robotic arm are located on the inner side of the second robotic arm and the fourth robotic arm;

The first robotic arm, the second robotic arm, the third robotic arm and the fourth robotic arm are all formed by hingedly connecting the first rod body, the second rod body and the third rod body in sequence, and the hinges at the hinges are linked by wire transmission. The second rod body is always in a translational state and is parallel to the axis of symmetry. This avoids the appearance of sharp corners, which not only reduces the possibility of interference between the arms, but also reduces the space occupied by the passive part of each robotic arm in the lateral direction, providing more space for the use of other medical equipment during surgery.

Furthermore, the hinge points of two adjacent robotic arms are connected to the center of the circle, and the angle formed by the two connecting lines is 60°.

Furthermore, in the first robotic arm and the third robotic arm, the first rod body and the third rod body are of equal length, which is beneficial to improving the flexibility of the first robotic arm and the third robotic arm and facilitating rapid positioning during preoperative adjustment.

Furthermore, in the second robotic arm and the fourth robotic arm, the first rod is bent in an "L" shape, and the bending angle is a right angle or an obtuse angle. This setting provides more space for preoperative adjustment of the passive parts of the first robotic arm and the third robotic arm, effectively avoiding interference between the arms.

Furthermore, in the second robotic arm and the fourth robotic arm, the distance between the two end points of the first rod is equal to the length of the third rod, which is beneficial to improving the flexibility of the second robotic arm and the fourth robotic arm and facilitating rapid positioning during preoperative adjustment.

Furthermore, the length of the third rod in the second robotic arm and the fourth robotic arm is greater than the length of the third rod in the first robotic arm and the third robotic arm.

The beneficial effects of the present invention are as follows: compared with the prior art, a surgical system of the present invention has the following advantages from the structure of the passive part of the hand robotic arm: the passive parts of the first robotic arm, the second robotic arm, the third robotic arm and the fourth robotic arm are arranged according to the structure of the present invention, so that the functions of each robotic arm can be universal, which greatly reduces the workload of preoperative adjustment, reduces the training requirements for medical staff, and makes preoperative adjustment more convenient and quick; the universal functions of each arm make doctors less constrained when formulating surgical plans, and have more options to choose those plans that are more conducive to improving the success rate of the operation, thereby achieving the best treatment effect and providing better services for patients; by optimizing the length of the first connecting rod, the second connecting rod and the third connecting rod, the structural layout meets the spatial layout requirements of the active part of the robotic arm in various surgical situations, thereby avoiding collisions during the operation and affecting the quality of the operation.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the overall structural layout of the present invention;

Among them, 1 is a first robotic arm, 2 is a second robotic arm, 3 is a third robotic arm, 4 is a fourth robotic arm, 5 is a mounting base, 6 is a first rod body, 7 is a second rod body, and 8 is a third rod body.

DETAILED DESCRIPTION

To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution 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.

In the embodiment shown in FIG. 1 , a passive part of a surgical system from a hand robot arm includes a mounting base 5 and a first robot arm 1, a second robot arm 2, a third robot arm 3 and a fourth robot arm 4 hinged on the mounting base 5, wherein:

The installation base points of the first robotic arm 1, the second robotic arm 2, the third robotic arm 3 and the fourth robotic arm 4 on the mounting base 5 are located on the same circle, and the hinge points of two adjacent robotic arms are respectively connected to the center of the circle, and the angle formed by the two connecting lines is 60°. By controlling the radius of the circle, the starting spacing of the passive parts of each robotic arm can be conveniently adjusted; the first robotic arm 1 and the third robotic arm 3 are symmetrically arranged along the axis of symmetry, and the second robotic arm 2 and the fourth robotic arm 4 are symmetrically arranged along the axis of symmetry. The axis of symmetry here refers to the symmetry line extending from the center of the circle, which is a virtual line. The first robotic arm 1 and the third robotic arm 3 are located on the inner side of the second robotic arm 2 and the fourth robotic arm 4;

The first robotic arm 1, the second robotic arm 2, the third robotic arm 3 and the fourth robotic arm 4 are all formed by hingedly connecting a first rod 6, a second rod 7 and a third rod 8 in sequence, and the hinges at the hinges are linked by wire transmission. The second rod 7 is always in a translational state and parallel to the axis of symmetry. This avoids the appearance of sharp corners, which not only reduces the possibility of interference between the arms, but also reduces the space occupied by the passive parts of each robotic arm in the lateral direction, providing more space for the use of other medical equipment during surgery.

In this embodiment, in the first mechanical arm 1 and the third mechanical arm 3, the first rod 6 and the third rod 8 are of equal length, which is conducive to improving the flexibility of the first mechanical arm 1 and the third mechanical arm 3, and is convenient for rapid positioning during preoperative adjustment. In the second mechanical arm 2 and the fourth mechanical arm 4, the first rod 6 is bent in an "L" shape, and the bending angle is a right angle or an obtuse angle. This arrangement provides more space for preoperative adjustment of the passive parts of the first mechanical arm 1 and the third mechanical arm 3, and effectively avoids interference between the arms. In the second mechanical arm 2 and the fourth mechanical arm 4, the distance between the two end points of the first rod 6 is equal to the length of the third rod 8, which is conducive to improving the flexibility of the second mechanical arm 2 and the fourth mechanical arm 4, and is convenient for rapid positioning during preoperative adjustment. The length of the third rod 8 in the second mechanical arm 2 and the fourth mechanical arm 4 is greater than the length of the third rod 8 in the first mechanical arm 1 and the third mechanical arm 3.

The above-mentioned specific implementations are only specific cases of the present invention. The patent protection scope of the present invention includes but is not limited to the product form and style of the above-mentioned specific implementations. Any appropriate changes or modifications made to them by ordinary technicians in the technical field that conform to the claims of the present invention shall fall within the patent protection scope of the present invention.

Claims (4)

1. A structure of a passive part of a hand robot arm of a surgical system, characterized in that it comprises a mounting base and a first robot arm, a second robot arm, a third robot arm and a fourth robot arm hinged on the mounting base, wherein: The installation base points of the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm on the installation base are located on the same circle; the first mechanical arm and the third mechanical arm are symmetrically arranged along the symmetry axis, the second mechanical arm and the fourth mechanical arm are symmetrically arranged along the symmetry axis, and the first mechanical arm and the third mechanical arm are located inside the second mechanical arm and the fourth mechanical arm; The first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are all formed by hingedly connecting the first rod body, the second rod body and the third rod body in sequence, and the hinges at the hinged joints are linked by wire transmission, and the second rod body is always in a translation state and parallel to the symmetry axis; In the second mechanical arm and the fourth mechanical arm, the first rod body is bent in an "L" shape; The bending angle of the first rod in the second mechanical arm and the fourth mechanical arm is a right angle or an obtuse angle; In the second mechanical arm and the fourth mechanical arm, the distance between two end points of the first rod body is equal to the length of the third rod body. 2. The structure of the passive part of the hand robot arm of a surgical system according to claim 1 is characterized in that the hinge points of two adjacent robot arms are connected to the center of the circle, and the angle formed by the two connecting lines is 60°. 3. The structure of the passive part of the hand robot arm of a surgical system according to claim 1 is characterized in that: in the first robot arm and the third robot arm, the first rod body and the third rod body are of equal length. 4. The structure of the passive part of the hand robot arm of a surgical system according to claim 1 is characterized in that the length of the third rod body in the second robot arm and the fourth robot arm is greater than the length of the third rod body in the first robot arm and the third robot arm.