CN116077197B - Instrument mechanical arm with joint adjusting device - Google Patents

Abstract

The present invention relates to an instrument robot arm with an adjustment joint device, which solves the technical problems that a patient operating table in an existing minimally invasive surgical robot system first withdraws the surgical instrument, folds up the active part of the instrument robot arm, rearranges the passive part, and then adjusts the position of the active part to eliminate the interference between the active part and the patient's body, and then unfolds the active part of the instrument robot arm, so that the execution end of the surgical instrument is further extended into the patient's body, which wastes a lot of time, complicates the operation process, increases the risk of the operation, and reduces the safety of the operation. The instrument robot arm comprises a passive part, an active part and an adjustment joint device, and the adjustment joint device is connected between the passive part and the active part.

Description

Instrument mechanical arm with joint adjusting device

Technical Field

The invention relates to the technical field of minimally invasive surgical instruments, in particular to an instrument mechanical arm with an articulation adjustment device.

Background

The reference application publication number is CN109091237A, and the Chinese patent application is named as a minimally invasive surgical instrument auxiliary system, and minimally invasive surgery represented by laparoscope is known as one of important contributions of medical science in the 20 th century to human civilization, and minimally invasive surgery refers to surgery performed by a doctor penetrating into a body through a tiny incision on the surface of the human body by using an elongated surgical tool. Compared with the traditional open surgery, the minimally invasive surgery has the advantages of small surgical incision, small bleeding amount, small postoperative scar, quick recovery time and the like, so that the pain suffered by a patient is greatly reduced, and the minimally invasive surgery is widely applied to clinical surgery.

With reference to the invention patent application publication number CN112914683a and the invention patent application publication number CN111700683a, the surgical instrument performs various functions including clamping, cutting, stapling, anastomosis, etc. Surgical instruments have different configurations including implement tips, wrist joints, instrument bars, instrument cartridges, and the like.

Referring to the Chinese patent application with publication number CN112370168A and named as a minimally invasive surgical robot system, the minimally invasive surgical robot system comprises a doctor operation table and a patient operation table, and a surgeon accurately controls surgical instruments on an instrument mechanical arm of the patient operation table to execute various surgical actions by operating a control end operation arm in the doctor operation table. Typically, two instrument robots are used, namely one composed of a left instrument passive arm 1.7 and a left instrument active arm 1.10 and another composed of a right instrument passive arm 1.8 and a right instrument active arm 1.12. In the preoperative adjustment stage, the left instrument driven arm 1.7 is adjusted to enable the distal end fixed point of the left instrument driving arm 1.10 to coincide with the puncture hole, the right instrument driven arm 1.8 is adjusted to enable the distal end fixed point of the right instrument driving arm 1.12 to coincide with the puncture hole, interference between the left instrument driven arm 1.7 and the right instrument driven arm 1.8 is avoided, and a space as large as possible is reserved between the left instrument driving arm 1.10 and the right instrument driving arm 1.12 to avoid collision between the left instrument driving arm 1.7 and the right instrument driving arm 1.12. It can be seen that the structural layout of the left and right instrument passive arms 1.7, 1.8 is particularly important.

However, because the clinical operation conditions are very complex, individual conditions of patients are different, the operation modes are different, so that all clinical requirements cannot be met by adjusting the passive part of the mechanical arm (the left mechanical passive arm 1.7 or the right mechanical passive arm 1.8), and the condition that the active part of the mechanical arm (the left mechanical active arm 1.10 or the right mechanical active arm 1.12) interferes with the body of the patient can occur during operation, so that the surgical instrument cannot reach a designated position to complete corresponding operation actions. At this time, in order to complete the operation, the medical staff can only stop the operation temporarily, withdraw the operation instrument first, retract the active part of the mechanical arm of the instrument, rearrange the passive part and then adjust the position of the active part, eliminate the interference between the active part and the body of the patient, then expand the active part of the mechanical arm of the instrument, further make the execution end of the operation instrument extend into the body of the patient, and then continue the operation. This wastes a lot of time, not only is the operation process complicated, but also increases the risk of the operation, and reduces the operation safety.

Disclosure of Invention

The invention provides an instrument mechanical arm with an adjusting joint device, which aims to solve the technical problems that when an active part of an instrument mechanical arm interferes with a patient body, the active part of the instrument mechanical arm is withdrawn, the active part of the instrument mechanical arm is retracted, the passive part is rearranged and then the position of the active part is adjusted, interference between the active part and the patient body is eliminated, then the active part of the instrument mechanical arm is unfolded, a great amount of time is wasted in the operation process that the execution tail end of the instrument mechanical arm extends into the patient body, the operation process is complex, the operation risk is increased, and the operation safety is reduced.

The invention provides an instrument mechanical arm with an adjusting joint device, which comprises a driven part, a driving part and the adjusting joint device, wherein the adjusting joint device comprises a shell, a bearing gland, a first bearing, a second bearing, a first wire wheel, a slave shaft, a connecting seat, a transfer rod shell, a guide wheel, a band-type brake, a sleeve, a bent seat, an adjusting joint main shaft, a guide rod, an adjusting nut, a second wire wheel, a steel wire, a third bearing and a fourth bearing; the first wire wheel is fixedly connected with the middle part of the driven shaft, the first wire wheel is positioned in the shell, the sleeve is sleeved on the main shaft of the adjusting joint and is fixedly connected with the main shaft of the adjusting joint, the inclined part of the bending seat is provided with a mounting hole, the sleeve is inserted into the mounting hole of the inclined part of the bending seat and is fixedly connected with the inclined part, the upper part of the right end of the shell is provided with an upper bearing chamber, the lower part of the right end of the shell is provided with a lower bearing chamber, a third bearing is connected with the upper bearing chamber, a fourth bearing is connected with the lower bearing chamber, the upper part of the sleeve is connected with the third bearing, the lower part of the sleeve is connected with the fourth bearing, the upper part of the sleeve penetrates through the upper part of the shell, the lower part of the sleeve penetrates through the lower part of the shell, the band-type brake is connected with the bottom of the right end of the shell and is provided with a brake rotor and a band-type brake stator, the brake rotor is fixedly connected with the lower end of the main shaft of the adjusting joint, the second wire wheel is connected with the middle part of the sleeve, the device comprises a shell, a first wire wheel, a second wire wheel, a steel wire, a guide rod, a bending seat, a support arm, an adjusting joint main shaft, a driving part, a support arm, an external screw thread, an adjusting nut, a guide wheel and a steel wire, wherein the steel wire is connected between the second wire wheel and the first wire wheel, the guide rod penetrates through the guide hole to realize sliding connection with the middle part of the shell, the upper end of the guide rod is positioned outside the shell, the lower end of the guide rod is positioned inside the shell, the upper end of the guide rod is provided with the external screw thread, the adjusting nut is matched with the external screw thread, the guide wheel is connected with the lower end of the guide rod, the guide wheel is positioned inside the shell, the steel wire bypasses the guide wheel, the diameters of the first wire wheel and the second wire wheel are identical, the axis of the shaft and the axis of the adjusting joint main shaft are intersected, the tail end of the bending seat is fixedly connected with the free end of the driven part, the free end of the shell of the connecting rod is fixedly connected with the support arm of the driving part, and the axis of the adjusting joint main shaft and the driving part is intersected at the RCM point.

Preferably, the first bearing, the second bearing, the third bearing and the fourth bearing are all angular contact bearings.

Preferably, the bottom of the adapter rod housing is provided with an opening, and the cover is connected to the bottom of the adapter rod housing by a screw, and covers the opening.

Preferably, the bottom of the middle position of the shell is detachably connected with a shell gland.

The invention has the beneficial effects that the active part of the mechanical arm of the instrument can be directly adjusted in operation, the space posture of the active part of the mechanical arm of the instrument can be quickly changed in a short time, and the passive part of the mechanical arm of the instrument does not need to be redeployed after the instrument is withdrawn. The collision between the mechanical arm and the body of the patient can be effectively avoided, and the patient is not injured. When the mechanical arm collides with the body of a patient and the instrument cannot reach the ideal position, the active part of the mechanical arm can be rearranged by utilizing the adjusting joint. The improved mechanical arm of the instrument can not only improve the safety and the effectiveness of the existing operation, but also widen the operation, and complete various high-difficulty clinical operations.

Further features of the invention will be apparent from the description of the embodiments that follows.

Drawings

FIG. 1 is a schematic view of an adjustment joint arrangement;

FIG. 2 is a schematic illustration of the structure of FIG. 1, wherein the first wire wheel is connected with the second wire wheel through a wire, and the guide wheel is matched with the wire;

FIG. 3 is a schematic diagram of an adjustment joint arrangement;

FIG. 4 is a profile view of the adjustment joint device;

Fig. 5 is a schematic view of the structure of the device with the articulation adjustment mechanism mounted on the mechanical arm.

The symbols in the drawings illustrate:

1. The device comprises a shell, a bearing gland, a first angle contact bearing, a first wire wheel, a lock nut, a shaft, a connecting seat, a connecting rod shell, a cover, a shell gland and a cover, wherein the shell is composed of the first wire wheel, the lock nut, the second wire wheel, the shaft, the connecting seat, the adapter rod shell, the cover and the cover, the brake comprises a guide wheel 11, a brake rotor 12, a brake stator 13, a brake pressing cylinder 14, a sleeve 15, a bent seat 16, a regulating joint main shaft 17, a guide rod 18 and an adjusting nut 19. 20. The second angular contact bearing, 21, a second wire wheel, 22, a steel wire, 23, a third angular contact bearing, 24, a fourth angular contact bearing; 100-1, a passive part of an instrument mechanical arm, 100-2, an active part of the instrument mechanical arm and 100-2-1, a supporting arm.

Detailed Description

The invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1,2,3 and 4, the adjusting joint device comprises a shell 1, a bearing cover 2, a first angular contact bearing 3, a second angular contact bearing 20, a first wire wheel 4, a shaft 6, a connecting seat 7, a transfer rod shell 8, a guide wheel 11, a band-type brake, a sleeve 15, a bent seat 16, an adjusting joint main shaft 17, a guide rod 18, an adjusting nut 19, a second wire wheel 21, a steel wire 22, a third angular contact bearing 23 and a fourth angular contact bearing 24, wherein the bearing cover 2 is fixedly connected with the upper part of the left end of the shell 1 through screws, the bearing cover 2 is provided with a bearing chamber, the first angular contact bearing 3 is installed in the bearing chamber of the bearing cover 2, the lower part of the left end of the shell 1 is provided with a bearing chamber, the second angular contact bearing 20 is installed in the bearing chamber of the lower part of the left end of the shell 1, the upper end of the shaft 6 is connected with the first angular contact bearing 3, the lower end of the shaft 6 is connected with the second angular contact bearing 20, the shaft 6 is rotatably supported by the first angular contact bearing 3 and the second angular contact bearing 20, the shaft 6 extends out of the lower end of the shell 1 through screws, the lower end of the shaft 6 is fixedly connected with the lower end of the shaft 7 and the shaft 8 is fixedly connected with the connecting seat 8 through the connecting rod 8 and the cover 9, the bottom is conveniently connected with the bottom 9 through the cover 9 and the cover is fixedly connected with the bottom 9. The first wire wheel 4 is fixedly connected with the middle part of the shaft 6 through the lock nut 5, and the first wire wheel 4 is positioned in the shell 1. The sleeve 15 is sleeved on the adjusting joint spindle 17 and is fixedly connected, the inclined part of the bent seat 16 is provided with a mounting hole, the sleeve 15 is inserted into the mounting hole of the inclined part of the bent seat 16 and is fixedly connected through interference fit, the upper part of the right end of the shell 1 is provided with an upper bearing chamber, the lower part of the right end of the shell 1 is provided with a lower bearing chamber, the third angle contact bearing 23 is arranged in the upper bearing chamber, the fourth angle contact bearing 24 is arranged in the lower bearing chamber, the upper part of the sleeve 15 is connected with the third angle contact bearing 23, the lower part of the sleeve 15 is connected with the fourth angle contact bearing 24, the upper part of the sleeve 15 passes through the upper part of the shell 1, the lower part of the sleeve 15 passes through the lower part of the shell 1, the band-type brake is provided with a band-type brake pressing cylinder 14, a band-type brake rotor 12 and a band-type brake stator 13, the band-type brake is arranged at the bottom of the right end of the shell 1 through the band-type brake pressing cylinder 14, and the band-type brake rotor 12 is fixedly connected with the lower end of the adjusting joint spindle 17. The second wire wheel 21 is connected with the middle part of sleeve 15, second wire wheel 21 is located the inside of casing 1, steel wire 22 connects between second wire wheel 21 and first wire wheel 4, the middle part of casing 1 is equipped with the guiding hole, guide bar 18 passes this guiding hole realization and casing 1 middle part sliding connection, the upper end of guide bar 18 is located the outside of casing 1, the lower extreme of guide bar 18 is located the inside of casing 1, the upper end of guide bar 18 is equipped with the external screw thread, adjusting nut 19 and this external screw thread connection cooperation, guide wheel 11 is connected with the lower extreme of guide bar 18, guide wheel 11 is located the inside of casing 1, steel wire 22 bypasses guide wheel 11, thereby twist adjusting nut 19 can make guide bar 18 slide the position of adjusting guide wheel 11.

The diameters of the first wire wheel 4 and the second wire wheel 21 are the same, and the transmission ratio of the shaft 6 to the adjusting joint main shaft 17 is 1:1. Because the axis of the shaft 6 is intersected with the axis of the main shaft 17 of the adjusting joint, the first wire wheel 4 and the second wire wheel 21 are not on the same plane, and the guide wheel 11 not only can change the transmission direction of the steel wire, but also can play a role in tensioning. The tensioning degree can be adjusted by adjusting the position of the guide wheel 11 through the adjusting nut 19, so that the constant transmission ratio is ensured.

The bottom of the middle position of the shell 1 can be provided with the shell gland 10, the shell gland 10 is detachably connected to the bottom of the middle position of the shell 1, the guide wheel 11 can be exposed by removing the shell gland 10, and the overhaul work is convenient.

As shown in fig. 5, when the above-mentioned joint adjusting device is applied, the end of the bent seat 16 is fixedly connected with the free end of the passive part 100-1 of the mechanical arm of the instrument, and the free end of the switching lever housing 8 is fixedly connected with the supporting arm 100-2-1 of the active part 100-2 of the mechanical arm of the instrument. Thus, a joint is added to the active and passive parts of the mechanical arm, that is, a degree of freedom is added, and referring to fig. 3, the rcm point represents the distal stationary point of the mechanical arm, and this point coincides with the puncture hole in the patient during preoperative positioning. During surgery, the surgical instrument is maneuvered around this point without pulling the patient's epidermis near the puncture. The axis of the adjusting joint spindle 17 is the rotation axis of the adjusting joint device, the rotation axis of the driving part 100-2 of the mechanical arm and the rotation axis of the adjusting joint device are intersected at the RCM point, so that the whole mechanical arm always surrounds the RCM point when the posture of the driving part 100-2 of the mechanical arm is adjusted, the position of the driving part 100-2 of the mechanical arm can be directly adjusted in operation, the surgical instrument does not need to be completely withdrawn, and the driving part 100-2 of the mechanical arm does not need to be retracted. In operation, when the active part 100-2 of the mechanical arm interferes with the body of a patient, a medical staff holds the shell 1 by hand to manually rotate the shell 1, when the rotation angle of the shell 1 is alpha and the rotation angle of the shaft 6 is alpha through the wire transmission, the rotation angle of the active part 100-2 of the mechanical arm is alpha, so that the posture of the active part 100-2 of the mechanical arm as a whole is unchanged, the spatial position is changed, the surgical instrument does not need to be withdrawn, the active part 100-2 of the mechanical arm does not need to be retracted, the interference with the body of the patient is eliminated, and finally, the locking brake is opened, and the shell 1 is locked and cannot rotate.

It can be seen that the active portion 100-2 of the mechanical arm of the instrument can complete posture adjustment in a short time during surgery, ensuring that the surgery is performed smoothly without completely withdrawing the instrument. Thus, the operation time is saved, the operation risk is reduced, the operation safety is improved, the operation continuity and the safety and effectiveness are fundamentally ensured, and the complete recovery of patients is facilitated.

Based on the prior art, the introduction of an adjustment joint arrangement provides more possibilities for the rearrangement of the active part of the robot arm, thereby bringing about a series of advantages. Firstly, the operation space of the mechanical operation system is increased in a phase-changing manner, so that the movable space of the operation instrument is enlarged, the operation can be performed in a larger range, the size of the movable space of the active part of the mechanical arm of the instrument is unchanged, and the position of the movable space of the mechanical arm can be effectively changed by changing the space posture of the rotating axis of the mechanical arm, so that the operation space of the mechanical operation system is increased in a phase-changing manner. Secondly, collision between the mechanical arm and the body of the patient can be effectively avoided, and the patient is not injured. Finally, the rearrangement time of the active part of the mechanical arm is short, the operation can be completed within 5 minutes, adverse effects on the safety and effectiveness of the operation are avoided, and the operation is ensured to be completed smoothly.

It should be noted that four angular contact bearings in the adjustment joint device are preferable, and other structures of the four bearings may be used.

The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one skilled in the art is informed by this disclosure, other configurations of parts, driving devices and connection modes are adopted without creatively designing similar structures and embodiments without departing from the spirit of the present invention, and the present invention shall not be limited by the scope of the present invention.

Claims (4)

1. An instrument mechanical arm with an adjustable joint device, characterized in that it includes a passive part, an active part and an adjustable joint device, the adjustable joint device includes a housing, a bearing cover, a first bearing, a second bearing, a first wire wheel, a slave shaft, a connecting seat, a transfer rod housing, a guide wheel, a brake, a sleeve, a bent seat, an adjustable joint spindle, a guide rod, an adjusting nut, a second wire wheel, a steel wire, a third bearing and a fourth bearing, the bearing cover is fixedly connected to the upper part of the left end of the housing, the bearing cover is provided with a bearing chamber, the first bearing is connected to the bearing chamber of the bearing cover, the lower part of the left end of the housing is provided with a bearing chamber, the second bearing is connected to the left end of the housing The bearing chamber at the lower end is connected, the upper end of the slave shaft is connected to the first bearing, the lower end of the slave shaft is connected to the second bearing, the lower end of the slave shaft extends out of the shell, the connecting seat is fixedly connected to the lower end of the slave shaft, and the transfer rod shell is fixedly connected to the connecting seat; the first wire wheel is fixedly connected to the middle part of the slave shaft, and the first wire wheel is located in the shell; the sleeve is sleeved on the adjustment joint spindle and fixedly connected, the inclined part of the bent seat is provided with a mounting hole, and the sleeve is inserted into the mounting hole of the inclined part of the bent seat and fixedly connected; the upper part of the right end of the shell is provided with an upper bearing chamber, and the lower part of the right end of the shell is provided with a lower bearing chamber, and the third bearing is connected to the upper bearing chamber The fourth bearing is connected to the lower bearing chamber, the upper part of the sleeve is connected to the third bearing, the lower part of the sleeve is connected to the fourth bearing, the upper part of the sleeve passes through the upper part of the shell, and the lower part of the sleeve passes through the lower part of the shell; the brake is connected to the bottom of the right end of the shell, and the brake is provided with a brake rotor and a brake stator, and the brake rotor is fixedly connected to the lower end of the adjustment joint spindle; the second wire wheel is connected to the middle part of the sleeve, and the second wire wheel is located inside the shell; the steel wire is connected between the second wire wheel and the first wire wheel; a guide hole is provided in the middle part of the shell, and the guide rod passes through the guide hole to achieve a sliding connection with the middle part of the shell, The upper end of the guide rod is located outside the shell, and the lower end of the guide rod is located inside the shell. The upper end of the guide rod is provided with an external thread, and the adjusting nut is connected and cooperated with the external thread. The guide wheel is connected with the lower end of the guide rod, and the guide wheel is located inside the shell, and the steel wire passes around the guide wheel; the diameters of the first wire wheel and the second wire wheel are the same, and the axis of the slave shaft intersects with the axis of the adjustment joint main shaft; the end of the bending seat is fixedly connected to the free end of the passive part, and the free end of the transfer rod shell is fixedly connected to the support arm of the active part; the axis of the adjustment joint main shaft and the rotation axis of the active part intersect at the RCM point. 2 . The instrument robot arm with an adjustable joint device according to claim 1 , wherein the first bearing, the second bearing, the third bearing and the fourth bearing are all angular contact bearings. 3. The instrument robot arm with an adjustable joint device according to claim 1 is characterized in that an opening is provided at the bottom of the transfer rod housing, and a cover is connected to the bottom of the transfer rod housing by screws, and the cover covers the opening. 4. The instrument robot arm with an adjustable joint device according to claim 1, characterized in that a shell pressure cover is detachably connected to the bottom of the middle position of the shell.