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CN-122005099-A - Front end actuator of microsurgery robot

CN122005099ACN 122005099 ACN122005099 ACN 122005099ACN-122005099-A

Abstract

The invention discloses a front end actuator of a microsurgery robot, which comprises a first support, a second support, two opening and closing parts, a first driving mechanism and a second driving mechanism, wherein the second support is rotatably connected with the first support, the rear ends of the opening and closing parts are shaft sleeve bodies, the shaft sleeve bodies of the two opening and closing parts are rotatably connected with the second support, the shaft sleeve bodies are close to the outer side surface close to the front ends of the opening and closing parts and are provided with winding areas, the winding areas are convex arc surfaces, the first driving mechanism comprises two sections of first tendon ropes, the two sections of first tendon ropes are used for respectively pulling the second support to swing forwards and reversely around a first axis, the two sections of second driving mechanisms respectively correspond to the two opening and closing parts, each second driving mechanism comprises two sections of second tendon ropes, each section of second tendon rope bypasses the same winding area of the corresponding shaft sleeve body, and the two sections of second tendon ropes are used for respectively pulling the corresponding opening and closing parts to swing forwards and reversely around a second axis. The invention can realize the large-angle swing of the opening and closing part.

Inventors

  • WANG YUJIE
  • ZHAO FAN
  • JU BO

Assignees

  • 长臂猿医疗科技(无锡)有限公司

Dates

Publication Date
20260512
Application Date
20260402

Claims (11)

  1. 1. A front end effector of a microsurgical robot, comprising: a first mount having a front end and a rear end in a longitudinal direction: A second mount having a front end and a rear end in a longitudinal direction, the rear end of the second mount being rotatably connected to the front end of the first mount about a first axis; The front ends of the opening and closing parts are respectively rotatably connected with the front end of the second support seat around a second axis, the second axis is perpendicular to the first axis and extends transversely along the front end actuator, the rear ends of the opening and closing parts are shaft sleeve bodies, the outer side surfaces of the shaft sleeve bodies comprise winding areas, the winding areas are outwards convex arc surfaces, the front ends of the opening and closing parts are tip bodies, and the tip bodies are convexly arranged in the winding areas of the shaft sleeve bodies and extend radially along the shaft sleeve bodies; The first driving mechanism comprises two sections of first tendon ropes, each section of first tendon rope is provided with a front end and a rear end in the length direction, the front ends of the two sections of first tendon ropes are connected with the second support in a positioning mode, and the two sections of first tendon ropes are used for respectively pulling the second support to swing forwards and backwards around the first axis; The two second driving mechanisms respectively correspond to the two opening and closing parts, each second driving mechanism comprises two sections of second tendon ropes, each section of second tendon rope is provided with a front end and a rear end in the length direction, the front ends of the second tendon ropes are connected with corresponding shaft sleeve bodies in a positioning mode, in the same second driving mechanism, the two sections of second tendon ropes bypass corresponding winding areas and are perpendicular to the projection surface of the second axis, the two sections of second tendon ropes form a pair of antagonistic tendon ropes, and the two sections of second tendon ropes are used for respectively pulling the corresponding opening and closing parts to swing around the second axis in the forward direction and the reverse direction.
  2. 2. The robotic surgical instrument of claim 1, wherein the projected overlapping portions of the winding areas of the paired antagonistic chordae in certain poses form a central angle exceeding 20 °.
  3. 3. The robotic surgical instrument of claim 1, wherein the projected overlapping portions of the winding areas of the paired antagonistic chordae in certain poses form a central angle exceeding 60 °.
  4. 4. The robotic surgical microscope of claim 1, wherein the two second tendons of the same second driving mechanism are located at different distances from the same end of the corresponding sleeve body in the axial direction.
  5. 5. The front end effector of a microsurgical robot according to claim 4, wherein the shaft sleeve body is provided with a threading hole and a knot hole, two ports of the threading hole penetrate through the outer side surface of the shaft sleeve body respectively, an included angle between a central axis of the threading hole and the second axis is an acute angle, the knot hole is communicated with the threading hole in a crossing manner, front ends of the two sections of second tendon ropes penetrate through the threading hole in opposite directions and then are knotted to achieve positioning with the shaft sleeve body, and knots of the second tendon ropes are contained in the knot hole.
  6. 6. The robotic surgical instrument of claim 1, wherein the first support comprises two support arms that are separately disposed, the two support arms are disposed at a distance along the direction of the first axis, the opposite surfaces of the two support arms are each provided with an integrally formed first boss, the first bosses are near the front end of the first support, the first bosses of the two support arms are butted and fixed together to form a first shaft, the rear end of the second support is rotatably connected to the first shaft, and the first shaft further guides the first tendon to move longitudinally along the robotic instrument.
  7. 7. The robotic surgical instrument of claim 1, wherein the first support is provided with guide wire structures on both side surfaces facing away from each other in the direction of the first axis, the guide wire structures having wire regions that are convex arcuate surfaces, the wire regions guiding the longitudinal movement of the second tendon rope along the robotic instrument.
  8. 8. The robotic microsurgical tip actuator of claim 7, wherein the wire guide structure is a wire guide slot extending longitudinally of the first support, the wire guide slot having two opposing slot walls, the slot end of the slot wall proximate the front end of the first support being the wire guide region.
  9. 9. The robotic surgical tool according to claim 7, wherein the central axis of the lead zone is parallel to the first axis, the central axis of the lead zone is spaced apart from the front end of the first support by a distance L1 measured longitudinally of the first support, the first axis is spaced apart from the front end of the first support by a distance L2 measured longitudinally of the first support, L1-R < L2, and the difference between L1-R and L2 < R, where R is the radius of the second tether and R is the radius of the lead zone.
  10. 10. The robotic microsurgical tip actuator of claim 1, wherein the second support comprises a connecting plate, two first ear plates disposed opposite to each other at a distance in the direction of the first axis and connected to one side of the connecting plate, two second ear plates disposed opposite to each other at a distance in the direction of the second axis and connected to the other side of the connecting plate, and a second shaft connected to the two second ear plates, wherein the opening and closing portion is rotatably connected to the second shaft.
  11. 11. The front end effector of a microsurgical robot according to claim 10, wherein a wire-threading groove is formed in a plate surface of each first ear plate facing the other first ear plate, the wire-threading groove extends along the direction of the second axis, and front ends of the two first tendon ropes respectively penetrate through the wire-threading grooves of the two first ear plates and are knotted to achieve positioning with the second support.

Description

Front end actuator of microsurgery robot Technical Field The invention relates to the technical field of microsurgery, in particular to a front end actuator of a microsurgery robot. Background Microsurgery robot is a novel medical instrument integrating various subjects of clinical medicine, biomechanics, mechanics, materials science, computer science, microelectronics, mechatronics and the like. From the 90 s of the last century, robotic-assisted minimally invasive surgery has become a significant trend. The system integrates a plurality of emerging subjects, and realizes the minimally invasive, intelligent and digital surgical operation. The existing microsurgery robot mainly comprises a control console, a mechanical arm system and an image system. The front end actuator of the mechanical arm system directly acts on the operation area to complete the core execution part of the operation, and the opening and closing angle of the front end actuator is a key parameter for determining the operation performance and the application scene. The front end executor of some laparoscopic surgery robots can be opened and closed at a large angle through the additional structure, but the front end executor of the microsurgery robot has very small size, and the additional structure is difficult to add, so the swing angle of a single forceps jaw of the front end executor of the conventional microsurgery robot is generally not more than 90 degrees. In some use scenarios, the angle of oscillation of the jaws of the end effector needs to be greater to pull tissue through the back-hooking action. How to realize the large-angle opening and closing of the front end actuator of the microsurgical robot through a simple structure is a technical problem to be solved in the field. Disclosure of Invention Therefore, the invention provides the front end actuator of the microsurgical robot, which can realize the large-angle opening and closing of the front end actuator of the microsurgical robot through a simple structure. In order to solve the technical problems, the present invention provides a front end actuator of a microsurgical robot, comprising: a first mount having a front end and a rear end in a longitudinal direction: A second mount having a front end and a rear end in a longitudinal direction, the rear end of the second mount being rotatably connected to the front end of the first mount about a first axis; The front ends of the opening and closing parts are respectively rotatably connected with the front end of the second support seat around a second axis, the second axis is perpendicular to the first axis and extends transversely along the front end actuator, the rear ends of the opening and closing parts are shaft sleeve bodies, the outer side surfaces of the shaft sleeve bodies comprise winding areas, the winding areas are outwards convex arc surfaces, the front ends of the opening and closing parts are tip bodies, and the tip bodies are convexly arranged in the winding areas of the shaft sleeve bodies and extend radially along the shaft sleeve bodies; The first driving mechanism comprises two sections of first tendon ropes, each section of first tendon rope is provided with a front end and a rear end in the length direction, the front ends of the two sections of first tendon ropes are connected with the second support in a positioning mode, and the two sections of first tendon ropes are used for respectively pulling the second support to swing forwards and backwards around the first axis; The two second driving mechanisms respectively correspond to the two opening and closing parts, each second driving mechanism comprises two sections of second tendon ropes, each section of second tendon rope is provided with a front end and a rear end in the length direction, the front ends of the second tendon ropes are connected with corresponding shaft sleeve bodies in a positioning mode, in the same second driving mechanism, the two sections of second tendon ropes bypass corresponding winding areas and are perpendicular to the projection surface of the second axis, the two sections of second tendon ropes form a pair of antagonistic tendon ropes, and the two sections of second tendon ropes are used for respectively pulling the corresponding opening and closing parts to swing around the second axis in the forward direction and the reverse direction. Optionally, in some poses, the projected overlapping portions of the winding areas of the paired antagonistic tendons form a central angle exceeding 20 °. Optionally, in some poses, the projected overlapping portions of the winding areas of the paired antagonistic tendons form a central angle exceeding 60 °. Optionally, the positioning positions of the front ends of the two sections of second tendon ropes of the same second driving mechanism are different from the distances of the same ends of the corresponding shaft sleeve body in the axial direction. Optionally, be equipped with through