CN113598955B - A minimally invasive surgical robot power transmission mechanism - Google Patents

Abstract

The invention relates to a power transmission mechanism of a minimally invasive surgery robot, which comprises a power assembly, a steel wire rope transmission assembly and a steel wire rope guide conversion mechanism which are sequentially connected, wherein the power assembly comprises a base and a plurality of driver modules, the steel wire rope transmission assembly comprises a driver side supporting piece, a steel wire rope side supporting piece, ball screws, a stabilizing module, a stabilizing guide shaft, a force/moment detection sensor, a steel wire rope fixer and a position detection sensor, a mandrel of each ball screw penetrates through the driver side supporting piece and is connected with the driver side supporting piece through a bearing, and is connected with the output end of the corresponding driver module, the stabilizing module is sleeved on the stabilizing guide shaft and corresponds to the ball on the ball screw, and the stress/torque detection sensor is fixedly connected and is connected with the movable part of the corresponding position detection sensor, and the force/torque detection sensor is connected with the steel wire rope fixer. The invention has the advantage of simultaneously detecting the driving force of the steel wire rope, the external force borne by the steel wire rope and the displacement.

Description

A minimally invasive surgical robot power transmission mechanism

technical field

The invention relates to the field of medical robot equipment, in particular to a power transmission mechanism of a minimally invasive surgical robot.

Background technique

During minimally invasive surgery, doctors use slender surgical instruments to perform surgical operations on patient tissue, such as cutting, suturing, and knotting. In this surgical process, ensuring the safety of the surgery is crucial. The doctor not only needs to accurately sense and control the force exerted on the patient's tissue, but also achieve precise control of the joint position of the surgical end effector. At present, with the rise of robot-assisted minimally invasive surgery, more and more patients choose robotic minimally invasive surgery with more precise surgical operations, less surgical trauma, and shorter postoperative recovery time. In robotic minimally invasive surgery, the doctor can directly or indirectly control the end effector of the surgical robot on the patient side through man-machine collaboration or master-slave teleoperation. The precise perception of the interaction force between the surgical robot end effector and human tissue, and the precise control of the joint position of the robot end effector by the doctor are the keys to the success of robot-assisted surgery. The perception of the terminal interaction force and the precise control of the joint position amount not only directly affects the doctor's operating experience and training time, but also has a non-negligible impact on the safety of the operation.

The tendon-driven based method based on wire rope is the most popular power transmission method for the current minimally invasive surgical robot end effector. For example, the Da Vinci surgical robot of the American company Intuitive (R.Devengenzo and T.Cooper, "Instrument interface of a robotic surgical systemUS7963913B2," 2011.). The Chinese patent application with publication number CN105212987A discloses a surgical instrument, which adopts 6 steel wire ropes to realize the control of three degrees of freedom at the end of the instrument. The Chinese patent application with publication number CN110368092A discloses a surgical instrument, which also adopts a wire rope transmission structure to realize the control of the end gripper. The design of such minimally invasive surgical instruments has the following shortcomings:

(1) The interaction force between surgical instruments and human tissue cannot be directly detected. Due to the small size of the claw at the end of the surgical instrument, there is insufficient space for installing force-sensitive components. At present, there is no force-sensing device that meets the space size of minimally invasive surgical instruments in the industry.

(2) The position of the joint at the end of the surgical actuator cannot be accurately detected and controlled. Due to the extremely limited joint space of the end effector of the surgical robot and the convenience of surgical sterilization, the wire rope-driven surgical robot adopts a way of arranging the end effector and the driver (motor, cylinder, etc.) separately, and the power output shaft of the driver is connected to the The end effector joint shaft realizes the power transmission through the wire rope. The position control of the end effector is only indirectly controlled by the position detection sensor (such as photoelectric encoder, potentiometer, etc.) installed on the end shaft of the driver (such as the motor shaft), resulting in the inability to realize the control of the joint position of the end effector. Precise detection and control.

Therefore, there is currently a need for more optimized surgical instruments.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a power transmission mechanism for a minimally invasive surgical robot.

The object of the present invention can be realized through the following technical solutions:

A power transmission mechanism for a minimally invasive surgical robot, comprising a power component, a wire rope transmission component and a wire rope guide conversion mechanism connected in sequence,

The power assembly includes a base and a plurality of driver modules,

The wire rope transmission assembly includes a driver side support, a wire rope side support, a ball screw, a stabilization module, a stabilization guide shaft, a force/torque detection sensor, a wire rope holder and a position detection sensor. The number of the ball screws is the same as the driver. The number of modules is the same, and one-to-one correspondence, one end of the mandrel of each ball screw is connected with the wire rope side support through a bearing, and the other end passes through the driver side support through the bearing to connect with the driver side support, and with the corresponding driver The output end of the module is connected, and the two ends of the stable guide shaft are respectively fixedly connected with the wire rope side support and the driver side support. The stabilization module is sleeved on the stable guide shaft and slides along the stable guide shaft, so The numbers of the stabilization modules, stabilization guide shafts, force/torque detection sensors, and position detection sensors are all consistent with the number of driver modules, and correspond one-to-one, and the stabilization modules are respectively associated with the balls on the corresponding ball screw, and the corresponding The force/torque detection sensor is fixedly connected and connected with the movable part of the corresponding position detection sensor, the force/torque detection sensor is connected with the wire rope holder, the wire rope holder is connected with the driving wire rope, and the driving wire rope passes through the wire rope The other end of the guide conversion mechanism is connected to the end effector of the surgical instrument.

The number of the driver modules is an even number, and there are two driver modules in each group, and the two driver modules in the same group are arranged opposite to each other.

The driver module includes a driver, a driver output shaft coupler, and a driver end position sensor, and an output end of the driver is connected to a ball screw through the driver output shaft coupler.

The wire rope transmission assembly further includes a stabilizing column, which is arranged between the driver side support and the wire rope side support and is parallel to the stabilizing guide shaft.

The wire rope transmission assembly further includes a sensor mounting bracket, and the position detection sensor is arranged on the sensor mounting bracket.

There are four driver modules in total.

The wire rope guide conversion mechanism includes a support plate and a change mechanism support rod. A plurality of reversing units are distributed on the first side of the support plate in a circular shape, and the number of the reversing units is consistent with the number of driver modules. .

The reversing unit includes two guide wheels.

The power transmission mechanism further includes a wire rope guide, which is connected to a second side surface of the support plate, wherein the second side surface is opposite to the first side surface.

The driver is a motor.

Compared with the prior art, the present invention has the following beneficial effects: in the power transmission mechanism of the minimally invasive surgical robot, the detection of the driving force of the wire rope, the external force on the wire rope and the displacement of the wire movement can be realized at the same time. Realize the detection of the force and displacement of the wire rope; at the same time, with the position information output by the high-precision position sensor on the end driver, the dual-position loop detection and wire rope driving force detection of the minimally invasive robot driver are realized, which improves the control of surgical instrument joints Accuracy and external force detection accuracy.

Description of drawings

1 is a schematic diagram of the overall structure of a power transmission mechanism of a minimally invasive surgical robot provided by an embodiment of the present invention;

2 is a front view of a power transmission mechanism for a minimally invasive surgical robot provided by an embodiment of the present invention;

FIG. 3 is a three-dimensional oblique view of power transmission of a minimally invasive surgical robot provided by an embodiment of the present invention;

4 is a schematic diagram of a first transmission module of a power transmission mechanism of a minimally invasive surgical robot according to an embodiment of the present invention;

5 is a schematic diagram of a third transmission module of a power transmission mechanism of a minimally invasive surgical robot according to an embodiment of the present invention;

6 is a schematic diagram of a combination of a position detection sensor and a mounting bracket of a power transmission mechanism of a minimally invasive surgical robot according to an embodiment of the present invention;

7 is a schematic diagram of a sensor mounting bracket for a power transmission mechanism of a minimally invasive surgical robot according to an embodiment of the present invention;

8 is a schematic diagram of a driving wire rope guide conversion mechanism of a power transmission mechanism of a minimally invasive surgical robot provided by an embodiment of the present invention;

Among them: A-power component; B-steel rope transmission component; C-steel rope guide conversion mechanism;

1-Driver; 2-Driver support; 3-Driver output shaft coupler; 4-Driver side support; 5-Stabilized guide shaft; 6-Ball screw; 7-Stabilized module; 8-Stabilized column; 9-Force /Torque detection sensor; 10-wire rope fixer; 11-support bearing of power conversion assembly; 12-drive wire rope; 13-wire rope side support; 14-transformation mechanism support rod; 15-support plate; - Steel wire rope conduit fixture; 18- Stabilizing column; 23- Position detection sensor; 24- Sensor mounting bracket;

1.1-Driver a; 1.2-Driver b; 3.1-Driver output shaft coupler a; 3.2-Driver output shaft coupler b; 5.1-Stable guide shaft a; 5.2-Stabilized guide shaft b; ;7.1-stabilization module a;7.2-stabilization module b;9.1-force/torque detection sensora;9.2-force/torque detection sensorb;10.1-wire rope holder a;10.2-wire rope holder b; 12.2-Wire rope b; 23.1-Position detection sensor a; 15.1-Guide wheel a; 15.2-Guide wheel b; 23.2-Position detection sensor b; 23.3-Position detection sensor c; 23.4- Position detection sensor d; Mounting hole a; 24.2-sensor mounting bracket mounting hole b; 24.3-sensor mounting bracket mounting hole c; 24.4-sensor mounting bracket mounting hole d; 25-drive end high-precision position sensor;

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and provides a detailed implementation manner and a specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

In order to make the objectives, advantages and features of the present invention clearer, the present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that the accompanying drawings are in a very simplified form and are not drawn in scale, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present invention. Furthermore, the structures shown are often part of the actual structure. In particular, each drawing needs to show different emphases, and sometimes different scales are used.

As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. As used in this specification and the appended claims, the term "or" is generally employed in its sense including "and/or" and, unless the content clearly dictates otherwise, the term "proximal" is generally intended to be close to The operator's end, the term "distal" is usually the end that is close to the object of operation of the surgical instrument.

Please refer to FIGS. 1 to 8 , wherein, FIG. 1 is a schematic diagram of the overall structure of a power transmission mechanism of a minimally invasive surgical robot provided by an embodiment of the present invention, and FIG. 2 is a front view of a power transmission mechanism of a minimally invasive surgical robot provided by an embodiment of the present invention. 3 is a perspective view of the power transmission of the minimally invasive surgical robot provided by the embodiment of the present invention, FIG. 4 is a schematic diagram of the first transmission module of the power transmission mechanism of the minimally invasive surgical robot provided by the embodiment of the present invention, and FIG. 5 is provided by the embodiment of the present invention. The schematic diagram of the third transmission module of the power transmission mechanism of the minimally invasive surgical robot, FIG. 6 is a schematic diagram of the combination of the position detection sensor and the installation bracket of the power transmission mechanism of the minimally invasive surgical robot provided by the embodiment of the present invention, and FIG. 7 is provided by the embodiment of the present invention. Schematic diagram of the sensor mounting bracket of the power transmission mechanism of the minimally invasive surgical robot. FIG. 8 is a schematic diagram of the driving wire rope guide transformation mechanism of the power transmission mechanism of the minimally invasive surgical robot provided by the embodiment of the present invention.

A power transmission mechanism for a minimally invasive surgical robot, comprising a power assembly A, a wire rope transmission assembly B and a wire rope guide conversion mechanism C connected in sequence, the power assembly A is connected with the wire rope transmission assembly B through a driver output shaft coupler 3, and the wire rope transmission assembly B The output wire rope a 12.1 and wire rope b 12.2 are connected to the wire rope guide conversion mechanism C through the through holes on the wire rope side support 13 of the wire rope transmission assembly; The power is transmitted to the end gripper of the minimally invasive surgical robot;

The power assembly includes a base and multiple drive modules,

The wire rope transmission assembly includes the driver side support 4, the wire rope side support 13, the ball screw 6, the stabilization module 7, the stabilization guide shaft 5, the force/torque detection sensor 9, the wire rope holder 10 and the position detection sensor 23, the ball screw The number of 6 is consistent with the number of driver modules, and they correspond one-to-one. One end of the mandrel 6.1 of each ball screw 6 is connected with the wire rope side support 13 through a bearing, and the other end passes through the driver side support 4 through the bearing and the driver. The side support 4 is connected to the output end of the corresponding driver module, the two ends of the stabilization guide shaft 5 are respectively fixedly connected to the wire rope side support 13 and the driver side support 4, and the stabilization module 7 is sleeved on the stabilization guide shaft 5. up and slide along the stabilization guide shaft 5, the number of the stabilization module 7, the stabilization guide shaft 5, the force/torque detection sensor 9 and the position detection sensor 23 are all the same as the number of the driver modules, and correspond one-to-one, and the stabilization modules 7 are respectively It is fixedly connected with the ball on the corresponding ball screw 6 and the stress/torque detection sensor 9, and is connected with the movable part of the corresponding position detection sensor 23, the force/torque detection sensor 9 is connected with the wire rope holder 10, and the wire rope holder 10 A driving wire rope is connected to the above, and the other end of the driving wire rope is connected to the end effector of the surgical instrument after being guided by the wire rope to the conversion mechanism.

As shown in Fig. 3, Fig. 4 and Fig. 5, in the wire rope transmission assembly B, the stabilizing guide shaft 5, the ball screw 6, the stabilizing module 7, the force/torque detection sensor 9, the wire rope holder 10, the wire rope 12 and the Position detection sensor 23 .

The driver module includes a driver 1 and a driver output shaft coupler 3 , and the output end of the driver 1 is connected to the ball screw 6 through the driver output shaft coupler 3 . Drive 1 is a motor.

Specifically, one end of the stabilization guide shaft 5 is fixed to the driver-side support 4 of the wire rope transmission assembly by bolts, and the other end is fixed to the wire rope side support 13 of the wire rope transmission assembly by bolts; the stabilization guide shaft 5 passes through the passage of the stabilization module 7 In the hole, the stabilization module 7 is prevented from rotating around the axis of the power conversion assembly 6; ; In the ball screw, the mandrel 6.1 passes through the ball 6.2, and the two ends of the mandrel 6.1 are provided with the bearings on the wire rope side support 13 and the driver side support 4 to realize the support of the mandrel; the ball screw The mandrel 6.1 is connected to the output shaft of the driver 1 through the driver output shaft coupler 3, which converts the rotational motion of the output shaft of the driver 1 into the translational motion along the direction of the mandrel 6.1; there is a through hole in the middle of the stabilization module 7, and the force/torque detection The sensor 9 is fixedly connected with the stabilization module 7 through bolts; the other side of the force/torque detection device 9 and the wire rope holder 10 are fixedly connected by bolts; one end of the driving wire rope is fixed on the wire rope holder 10; when the output shaft of the driver 1 is in the control Rotational motion is generated under the action of the signal, and the power is transmitted to the mandrel 6.1 through the driver output shaft coupler 3, the mandrel 6.1 generates rotational motion, and drives the ball 6.2 to achieve translational motion; the translational motion of the ball 6.2 drives the stabilization module 7 to generate translational motion; The translational movement of the stabilization module 7 generates translational movement with the power/torque detection sensor 9; the force/torque detection sensor 9 finally transmits the translational movement to the wire rope holder 10, and finally realizes the stretching movement of the driving wire rope 12;

In some embodiments, the wire rope transmission assembly further includes a stabilization column, which is stably disposed between the driver side support 4 and the wire rope side support 13 and is parallel to the stabilization guide shaft 5 . Further improve stability

The number of driver modules is an even number, and two driver modules in the same group are arranged opposite each other, so that as shown in Figure 5, the above-mentioned translational motions of the driving wire ropes can occur in pairs to realize a group of drivers. a 1.1 and the driver b 1.2 drive the wire rope a 12.1 and the wire rope b 12.2 independently; this driving mode can form a grouped pair-pull mode to realize the rotational motion control of a single joint; when the wire rope a 12.1 and the wire rope b 12.2 are connected to the external operation The device end effector comes into contact with the environmental object to generate a corresponding contact force. The external contact force is transmitted to the force/torque detection sensor a 9.1 and/torque detection sensor b 9.2 through the wire rope a 12.1 and the wire rope b 12.2, respectively, to realize the external force. detection.

In some embodiments, there are four driver modules in total.

The wire rope transmission assembly further includes a sensor mounting bracket 24 , and the position detection sensor 23 is arranged on the sensor mounting bracket 24 .

The wire rope guide conversion mechanism includes a support plate 15 and a change mechanism support rod 14. The first side of the support plate 15 is circumferentially distributed with a plurality of reversing units, and the number of the reversing units is the same as the number of the driver modules.

The reversing unit includes two guide wheels.

The power transmission mechanism further includes a wire rope guide 16 connected to a second side surface of the support plate 15, wherein the second side surface is opposite to the first side surface.

As shown in Fig. 4, Fig. 5, Fig. 6, Fig. 7, a position sensor mounting bracket 24 is arranged in the middle of the wire rope transmission assembly B; For mounting position detection sensor a 23.1, position detection sensor b 23.2, position detection sensor c 23.3 and position detection sensor d23.4, position detection sensor a 23.1, position detection sensor b 23.2, position detection sensor c 23.3 and position detection sensor d The movable part of 23.4 is fixedly connected with one side of the corresponding stabilization module 7; when the corresponding stabilization module 7 moves in translation, the position detection sensor a 23.1, the position detection sensor b 23.2, and the position detection sensor c23.3 are driven by the module. The movable parts of the position detection sensor d 23.4 and the movable parts of the position detection sensor d 23.4 move in translation respectively to generate corresponding position signals, so as to realize the detection of the displacement of the wire rope a 12.1 and the wire rope b 12.2. At the same time, high-precision position sensors 25 are respectively provided on the shaft of the end of the driver 1. The position sensor can only detect the rotational position of the driver with high precision, but cannot detect the displacement of the driving wire rope 12 generated by the wire rope transmission assembly B with high accuracy. Accuracy detection; through this configuration method, the high-precision position closed-loop detection of the driver and the closed-loop detection of the driving wire rope are realized at the same time, forming a double closed-loop control of the position detection, realizing the precise detection and control of the displacement of the driving wire rope 12, and finally realizing the paired wire rope. High-precision position control of actuator joints consisting of minimally invasive surgical instruments.

Claims (9)

1. A power transmission mechanism of a minimally invasive surgery robot comprises a power component, a steel wire rope transmission component and a steel wire rope guide conversion mechanism which are connected in sequence,

the power assembly includes a base and a plurality of driver modules,

the steel wire rope transmission assembly comprises a driver side supporting piece (4), a steel wire rope side supporting piece (13), ball screws (6), a stabilizing module (7), a stabilizing guide shaft (5), a force/moment detection sensor (9), a steel wire rope fixer (10) and a position detection sensor (23), wherein the number of the ball screws (6) is consistent with that of the driver modules and corresponds to one another, one end of a mandrel (6.1) of each ball screw (6) is connected with the steel wire rope side supporting piece (13) through a bearing, the other end of the mandrel penetrates through the driver side supporting piece (4) to be connected with the driver side supporting piece (4) through the bearing and is connected with the output end of the corresponding driver module, two ends of the stabilizing guide shaft (5) are fixedly connected with the steel wire rope side supporting piece (13) and the driver side supporting piece (4) respectively, the stabilizing module (7) is sleeved on the stabilizing guide shaft (5) and slides along the stabilizing guide shaft (5), the number of the stabilizing modules (7), the number of the stabilizing guide shafts (5), the number of the force/moment detection sensors (9) and the number of the position detection sensors (23) are all consistent with the number of the driver modules and are in one-to-one correspondence, the stabilizing modules (7) are respectively fixedly connected with the balls on the corresponding ball screws (6) and the opposite stress/moment detection sensors (9) and are connected with the movable parts of the corresponding position detection sensors (23), the force/moment detection sensors (9) are connected with the steel wire rope fixator (10), the steel wire rope fixator (10) is connected with a driving steel wire rope, and the other end of the driving steel wire rope is connected to an end effector of a surgical instrument after passing through the steel wire rope guide conversion mechanism;

the driver module comprises a driver (1), a driver output shaft coupler (3) and a driver tail end high-precision position sensor (25), wherein the output end of the driver (1) is connected to the ball screw (6) through the driver output shaft coupler (3), and the high-precision position sensor (25) can only detect the rotating position of the driver with high precision.

2. The power transmission mechanism of claim 1, wherein the number of driver modules is even, and every two driver modules in the same group are arranged oppositely.

3. The power transmission mechanism of a robot for minimally invasive surgery according to claim 1, characterized in that the wire rope transmission assembly further comprises a stabilizing column, which is disposed between the driver side support (4) and the wire rope side support (13) and is parallel to the stabilizing guide shaft (5).

4. The power transmission mechanism of a robot for minimally invasive surgery according to claim 1, characterized in that the wire rope transmission assembly further comprises a sensor mounting bracket (24), and the position detection sensor (23) is provided on the sensor mounting bracket (24).

5. A minimally invasive surgical robot power transmission mechanism according to claim 2, wherein there are four driver modules.

6. The power transmission mechanism of a minimally invasive surgery robot according to claim 1, characterized in that the steel wire rope guiding transformation mechanism comprises a support plate (15) and a transformation mechanism support rod (14), a plurality of reversing units are circumferentially distributed on a first side surface of the support plate (15), and the number of the reversing units is consistent with that of the driver modules.

7. The minimally invasive surgical robot power transmission mechanism of claim 6, wherein the reversing unit comprises two guide wheels.

8. The power transmission mechanism of a minimally invasive surgical robot according to claim 6, further comprising a wire rope guide (16), the wire rope guide (16) being connected to a second side of the support plate (15), wherein the second side is opposite to the first side.

9. A minimally invasive surgical robot power transmission mechanism according to claim 2, characterized in that the driver (1) is a motor.

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