Source: https://patents.google.com/patent/CN104349742B/en
Timestamp: 2019-09-22 23:18:41
Document Index: 178830139

Matched Legal Cases: ['Application No. 61', 'art 22', 'art 22', 'art 22', 'art 24', 'art 20', 'art 22', 'art 24', 'art 24', 'art 24', 'art 22', 'art 54', 'art 56', 'art 56', 'art 54', 'art 54', 'art 56', 'art 56', 'art 22', 'art 22', 'art 100']

CN104349742B - Hardware constrained remote center robotic manipulator freedom redundant axis and - Google Patents
Hardware constrained remote center robotic manipulator freedom redundant axis and Download PDF
CN104349742B
CN104349742B CN201380028879.4A CN201380028879A CN104349742B CN 104349742 B CN104349742 B CN 104349742B CN 201380028879 A CN201380028879 A CN 201380028879A CN 104349742 B CN104349742 B CN 104349742B
CN201380028879.4A
CN104349742A (en
B·M·斯赫纳
R·L·迪万根佐
G·C·埃廷格
E·F·杜瓦尔
2012-06-01 Priority to US201261654414P priority Critical
2012-06-01 Priority to US61/654,414 priority
2013-05-31 Application filed by 直观外科手术操作公司 filed Critical 直观外科手术操作公司
2013-05-31 Priority to PCT/US2013/043594 priority patent/WO2013181522A1/en
2015-02-11 Publication of CN104349742A publication Critical patent/CN104349742A/en
2017-06-23 Publication of CN104349742B publication Critical patent/CN104349742B/en
一种用在微创机器人手术中的远程中心操纵器，其包括相对于患者保持静止的基座连杆、器械夹持器，以及将器械夹持器联结到基座连杆的连杆机构。 For use in minimally invasive surgery remote center robotic manipulator, which remains stationary relative to the patient comprising a base link, the instrument holder, and a link mechanism coupled to the instrument holder to the base link. 连杆机构的第一和第二连杆被联接以限制第二连杆围绕与远程操纵中心交叉的第一轴线转动的运动。 The first and second links of the link mechanism is coupled to limit the rotational movement about the second link with the remote center manipulator intersects the first axis. 该连杆机构的平行四边形连杆结构部分使器械夹持器围绕与该远程操纵中心交叉的第二轴线俯仰。 Parallelogram linkage moiety of the link mechanism so that the instrument holder about the second axis intersects the pitch manipulation remote center. 第二轴线不与第一轴线重合。 Second axes are not coincident with the first axis. 该连杆机构的第三和第四连杆被联接以限制第四连杆围绕与远程操纵中心交叉的第三轴线转动的运动。 The third and the fourth link of the link mechanism is coupled to limit the rotational motion about the fourth link with the remote center manipulator intersects the third axis. 第三轴线不与第一和第二轴线中的任一个重合。 A third axis does not coincide with any one of the first and second axes. 公开了具有冗余机械自由度的机器人操纵器的硬件受限远程运动中心的各种组合。 It discloses various combinations of a robotic manipulator having a redundant degree of freedom of the mechanical hardware of the remote center of motion is limited.
硬件受限的远程中心机器人操纵器的冗余轴线和自由度 Hardware constrained remote center robotic manipulator freedom redundant axis and
[0002] 本申请要求(2012年6月1日）提交的美国专利申请No. 61 /654414的优先权，该申请的全部内容通过引用合并于此。 U.S. Patent No. [0002] This application claims (June 1, 2012) filed Application No. 61 / 654,414, the entire contents of which are hereby incorporated herein by reference.
[0003] 微创医疗技术的目的是在诊断或手术过程期间减少受损伤外部组织的量，从而减少患者的恢复时间、不适和有害的副作用。 [0003] The purpose of minimally invasive medical technologies to reduce the amount subject to external tissue damage during diagnostic or surgical procedures, thereby reducing patient recovery time, discomfort and harmful side effects. 微创外科手术的一种效果例如是减少手术后的住院恢复时间。 An effect such as minimally invasive surgery to reduce post-operative hospital recovery time. 由于标准开放手术的平均住院时间通常比类似微创手术的平均逗留时间明显更长，增加微创技术的使用可以每年节省数百万美元的住院成本。 Since the average length of stay is usually standard open surgery than the average length of stay was significantly longer similar minimally invasive surgery, the increased use of minimally invasive techniques could save millions of dollars in hospital costs each year. 虽然在美国每年进行的许多手术可能通过微创的方式进行，但由于微创手术器械和掌握微创手术涉及的额外手术培训，目前只有一部分手术使用这些先进技术。 Although many procedures performed annually in the United States through a minimally invasive way possible, but due to minimally invasive surgical instruments and master additional surgical training involved in minimally invasive surgery, only a portion of the surgical use of these advanced technologies.
[0004] 微创机器人手术或远程手术系统已被开发以增加外科医生的灵巧并避免传统微创技术的某些局限。 [0004] Minimally invasive robotic surgery or remote surgery system has been developed to increase a surgeon's dexterity and avoid some of the limitations of traditional minimally invasive techniques. 在远程手术中，外科医生使用某种形式的远程控制(例如，伺服机构等） 操纵手术器械运动，而不是通过手直接握住器械并移动器械。 In telesurgery, the surgeon uses some form of remote control (e.g., a servo mechanism or the like) to manipulate surgical instrument movements rather than holding the instrument and move the instrument directly by a hand. 在远程手术系统中，可以在手术工作站向外科医生提供手术部位的图像。 In telesurgery systems, may provide an image of the surgical site to the surgeon at the surgical workstation. 当外科医生可以在显示器上观看手术部位的二维或三维图像时，通过操纵主控制装置，其进而控制伺服机构操作从器械的运动，执行患者的手术过程。 When the surgeon may view the surgical site on a display a two-dimensional or three-dimensional image, by manipulating the master controller, which in turn controls the servo operation of moving the instrument from performing the surgical procedure the patient.
[0005] 用于远程手术的伺服机构往往接收两个主控制器的输入(其中每个对应外科医生的每只手)并且可以包括两个或更多个机器人臂，手术器械被安装在所述两个或更多个机器人臂中的每个上。 [0005] The servomechanism used for telesurgery are often the primary controller receives two inputs (where each corresponding to each hand of the surgeon) and may include two or more robotic arms, a surgical instrument is mounted on the two or more of each of the robot arm. 主控制器与关联机器人臂以及器械组件之间的操作通信通常通过控制系统实现。 Operation of the communication between the master controller and associated robotic arm and instrument assemblies is typically achieved through a control system. 控制系统通常包括至少一个处理器，其将来自主控制器的输入命令中继到关联的机器人臂和器械组件并在例如力反馈等的情况下，从器械和臂组件中返回到关联主控制器。 The control system typically includes at least one processor in the future command inputs relayed to main controller associated robotic arm and instrument assembly and the case, for example, force feedback or the like, and the arm is returned from the instrument assembly to the associated master controller. 机器人手术系统的一个示例可以是通过加利福尼亚州桑尼维尔的Intuitive Surgical 公司商购获得的DA VINCI⑯系统。 An example of a robotic surgical system may be DA VINCI⑯ system by the Sunnyvale, California company Intuitive Surgical commercially available.
[0006] 各种结构布置被用于在机器人手术期间支撑手术部位的手术器械。 [0006] Various structures for a surgical instrument is arranged to support a surgical site during robotic surgery. 从动连杆机构(Iinkage)或“从动装置”往往被称为机器人手术操纵器，并且在微创机器人手术期间用作机器人手术操纵器的示例性连杆机构布置在美国专利No. 7594912 (2004年9月30日提交）、 6758843 (2002年4月26 日提交）、6246200 (1999年8月3 日提交）以及5800423 (1995年7月20 日提交）中描述，上述全部公开通过引用被合并于此。 Exemplary link mechanism driven link mechanism (Iinkage) or "slave" is often referred to as a robotic surgical manipulator, and serves as a robotic surgical manipulator during a minimally invasive robotic surgery is disposed in U.S. Patent No. 7594912 ( 2004 September 30 filed), 6,758,843 (filed 2002 April 26), 6,246,200 (1999 August 3 filed) and 5,800,423 (1995 July 20 filed) described, the entire disclosures by reference incorporated herein. 这些连杆机构往往操纵器械夹持器，具有轴的器械被安装在该器械夹持器上。 The link mechanism is often manipulation instrument holder, the instrument having a shaft is attached to the instrument holder. 这类操纵器结构可以包括产生器械夹持器运动的平行四边形连杆机构部分，所述平行四边形连杆机构部分被限制成围绕与沿器械轴的长度设置的远程操纵中心交叉的俯仰轴线转动。 Such structures may include generating manipulator parallelogram linkage portion of the instrument holder movement parallel to the rotational center of the remote manipulation section parallelogram linkage mechanism is constrained to about the length of the shaft disposed along the instrument intersects the pitch axis. 这类操纵器结构还可以包括产生器械夹持器运动的偏转关节/接头，所述偏转接头被限制成围绕与俯仰轴线垂直的偏转轴线转动并且该偏转轴线也与远程操纵中心交叉。 Such structure may further include a manipulator deflecting instrument articulation movement of the holder / joint, the joint is restricted deflector to rotate about the yaw axis and the pitch axis and perpendicular to the pivot axis also intersecting with the remote center manipulator. 通过使远程操纵中心与内部手术现场的切口点（例如，与在腹腔镜手术期间在腹壁的套管针或插管)对准，通过使用操纵器连杆机构来移动轴的近端， 手术器械的端部执行器/受动器可以被安全定位，而没有对腹壁强加潜在危害的力。 By manipulation of the remote center point internal surgical incision site (e.g., during laparoscopic surgery and the abdominal wall trocar or cannula) is aligned to the proximal end of the manipulator moved by the use of linkage shaft, the surgical instrument the end effector / effector mechanism can be safely positioned without imposing force of potential harm to the abdominal wall. 替代操纵器结构例如在美国专利No. 6702805 (2000年11月9日提交）、6676669 (2002年1月16日提交），5855583 (1996年11 月22 日提交）、5808665 (1996年9 月9 日提交）、5445166 (1994年4 月6 日提交）以及5184601 (1991年8月5日提交）中被描述，上述全部公开通过引用被合并于此。 Alternative manipulator structure such as (November 9, 2000 filed) in US Patent No. 6702805, 6676669 (2002 filed January 16), 5,855,583 (filed November 22, 1996), 5,808,665 (September 9, 1996 filed), 5,445,166 (April 6, 1994 filed) and submitted 5,184,601 (August 5, 1991) are described in, the entire disclosures are incorporated herein by reference.
[0007] 虽然新的远程手术系统和装置已被证明是高效且有利的，但仍需进一步的改进。 [0007] While the new telesurgical systems and devices have proven to be efficient and advantageous, still further improvements. 一般来说，提供改进的用于执行微创机器人手术的结构和系统将是可取的。 In general, to provide improved structures and systems for performing minimally invasive robotic surgery would be desirable. 更为具体地，提高这些系统的效率和易用性将是有益的。 More specifically, these systems improve the efficiency and ease of use would be useful. 例如，改进通过机器人手术操纵器提供的运动范围而不对腹壁强加潜在危害的力，这一点将是特别有利的。 For example, to improve the range of motion by the robotic surgical manipulator provided without imposing force potential harm to the abdominal wall, as will be particularly advantageous.
[0008] 为提供对本发明的基本理解，下面给出本发明的一些实施例的简要概述。 [0008] to provide a basic understanding of the present invention, the following brief summary of some embodiments of the present invention are given. 本概述不是本发明的广泛综述。 This summary is not an extensive overview of the invention. 本概述并不旨在识别本发明的关键/重要元素或描绘本发明的范围。 This summary is not intended to identify key / critical elements or to delineate the scope of the present invention. 其唯一目的是作为后面陈述的具体实施方式的前奏，以简化方式陈述本发明的某些实施例。 Its sole purpose is as a prelude to the specific embodiments set forth later, in a simplified manner set forth certain embodiments of the present invention.
[0009] 公开了改进的远程中心操纵器，在微创机器人手术期间，该远程中心操纵器支撑手术器械并在器械的期望位置处提供远离任何轴承或机械支撑件的操纵中心。 [0009] discloses an improved remote center manipulator, during minimally invasive robotic surgery, the remote center manipulator support away from the surgical instrument and provide a center of any bearing or actuating the mechanical support at the desired position of the instrument. 该远程中心操纵器限制器械在远程操纵中心附近移动，优选地，该远程操纵中心与患者的进入切口例如患者的腹壁重合。 The remote center manipulator limit near the mobile device, preferably a remote center manipulator, the manipulator remote center, for example, an abdominal wall incision in a patient into the patient overlap. 在许多实施例中，操纵器连杆机构包括（1)可转动联接接头，其产生用于围绕经过远程操纵中心的第一轴线俯仰手术器械的平行四边形运动，（2)可转动联接连杆，其产生用于围绕经过远程操纵中心的第二轴线滚动手术器械的运动，以及⑶至少一对附加连杆，其被联接围绕经过远程操纵中心的关联附加轴线转动。 In many embodiments, the linkage mechanism comprises a manipulator (1) rotatably coupled linker, which generates a movement about a first axis via a parallelogram pitch remotely operated surgical instrument of the center, (2) rotatably coupling link, generating a second axis through which rolling motion of remotely operated surgical instrument of the center, and at least one additional pair ⑶ link, which is coupled around a rotation about the center through additional manipulation associated with the remote axis. 除了经过远程操纵中心以外，关联附加轴线不与第一轴线或第二轴线中的任一个重合，从而允许围绕一个或更多个附加轴线的转动被用于改进由机器人手术操纵器提供的运动范围，而不对腹壁强加潜在危害的力。 After addition remotely operated outside the center axis of the associated additional does not coincide with either a first axis or the second axis so as to allow around one or more additional axes of rotation is used to improve the range of motion provided by the robotic surgical manipulator without imposing force on the abdominal wall potentially harmful.
[0010] 因此，在一个方面，公开了在微创机器人手术期间用于限制手术器械的位置的远程中心操纵器。 [0010] Accordingly, in one aspect, a remote center manipulator during a minimally invasive robotic surgery for limiting the position of the surgical instrument. 手术器械包括细长轴。 The surgical instrument includes an elongated shaft. 该轴具有远侧作业端构造，其经配置通过远程操纵中心沿插入轴线被插入到患者体腔中。 The shaft having a distal working end configuration, configured by a remote manipulation inserted along the center axis of the patient is inserted into the body cavity. 该远程中心操纵器包括基座连杆，其经配置被保持在相对于患者的固定位置;器械夹持器，其经配置与手术器械联接；以及连杆机构，其将器械夹持器联接到基座连杆。 The remote center manipulator comprises a base rod, which is configured in a fixed position relative to the patient; the instrument holder, the surgical instrument configured to be coupled; and a link mechanism, which is coupled to the instrument holder base link. 该连杆机构的第一和第二连杆被联接以限制第二连杆相对于第一连杆围绕与远程操纵中心交叉的第一轴线转动的运动。 The first and second link of the link mechanism is coupled to the second link to limit rotation of the first link with respect to the movement of the first axis intersects the center around the remotely operated. 该连杆机构进一步包括三个可转动联接转动接头，其经配置产生连杆机构的受限制平行四边形运动，所述器械夹持器藉此被限制围绕与远程操纵中心交叉的第二轴线转动。 The link mechanism further comprises three rotatably coupled to a rotating joint, which generates the link mechanism is limited by the movement of the parallelogram configuration, the instrument holder is thereby restricted rotation about intersecting the axis center of the second remotely operated. 第二轴线不与第一轴线重合。 Second axes are not coincident with the first axis. 该连杆机构的第三和第四连杆被联接以限制第四连杆相对于第三连杆围绕与远程操纵中心交叉的第三轴线转动的运动。 The third and the fourth link of the link mechanism is coupled to limit the fourth link relative to the third link about the third axis of rotation and intersecting the center of the manipulation remote. 第三轴线不与第一和第二轴线中的任一个重合。 A third axis does not coincide with any one of the first and second axes.
[0011] 在许多实施例中，第三与第四连杆之间的联接被布置在基座连杆与第一和第二连杆之间的联接之间。 [0011] In many embodiments, the coupling between the third and fourth link being disposed between the connecting rod and the coupling between the first and second base link. 在这类实施例中，第四连杆的运动用于重新定位连杆机构的主要部分， 而不相对于患者移动远程操纵中心。 In such embodiments, the movement of the fourth link for repositioning the main part of the link mechanism, remotely operated not move relative to the center of the patient. 例如，第三连杆可以是基座连杆或相对于基座连杆至少是固定的。 For example, the base may be a third link rod with respect to the base or at least a fixed link. 第四连杆可以是第一连杆或相对于第一连杆至少是固定的。 It may be the fourth link relative to the first link or at least the first link is fixed. 在许多实施例中， 第一轴线与第三轴线之间的角度在10度与30度之间。 In many embodiments, the angle between the first axis and the third axis is between 10 degrees and 30 degrees. 例如，第一轴线与第三轴线之间的角度是大约15度。 For example, the angle between the first axis and the third axis is about 15 degrees. 在许多实施例中，第一轴线与第三轴线是垂直或大致（S卩，在可接受公差内） 垂直的。 In many embodiments, the first axis and the third axis is perpendicular or substantially (S Jie, within acceptable tolerances) vertical.
[0012] 在许多实施例中，第一轴线与第二轴线是垂直或大致垂直的。 [0012] In many embodiments, the first axis and the second axis is vertical or substantially vertical. 这类构造对器械夹持器的移动提供了很好的调节控制。 Such configuration of the mobile device holder provides a good adjustment control.
[0013] 在许多实施例中，连杆机构包括中间锥形摆动接头。 [0013] In many embodiments, the link mechanism includes a tapered intermediate swivel connector. 例如，在许多实施例中，连杆机构的连杆形成连杆的串联连接组件。 For example, in many embodiments, the link of the link mechanism of a connecting rod assembly connected in series. 第三连杆可以被设置在连杆的串联连接组件中的第二连杆与器械夹持器之间。 It may be disposed between the third link assemblies connected in series in the second link rod to the instrument holder. 并且第四连杆可以相对于器械夹持器是固定的或是器械夹持器中的至少一者。 And the fourth link may be fixed or instrument holder with respect to at least one instrument holder. 在许多实施例中，连杆机构可操作相对于第三连杆定向第四连杆，以便手术器械细长轴位于由第一轴线和第三轴线限定的平面中。 In many embodiments, the link mechanism is operable orientation with respect to the third link fourth link, the surgical instrument to the elongated shaft lies in a plane defined by the first and third axes of.
[0014] 在许多实施例中，远程中心操纵器包括正弦/余弦连杆，其可驱动联接三个可转动联接转动接头中的至少一对，其中所述三个可转动联接转动接头经配置产生连杆机构的受限平行四边形运动。 [0014] In many embodiments, the remote center manipulator comprises a sine / cosine link, which may be three rotatable drive coupling rotatably coupled to the at least one pair of contacts, wherein said three rotatable coupling rotary joint configured to generate limited movement of the parallelogram link mechanism. 以及在许多实施例中，带有定向挠曲的正弦/余弦连杆可驱动地联接三个可转动联接转动接头中的至少一对，其中所述三个可转动联接转动接头经配置产生连杆机构的受限平行四边形运动。 And in many embodiments, the sine / cosine directional link with a deflection drivably coupled rotatably coupled to at least three rotatable pair of contacts, wherein said three rotatable coupling rotary joint configured to generate link limited movement of the parallelogram mechanism.
[0015] 在另一方面，公开了在微创机器人手术期间用于限制手术器械的位置的远程中心操纵器。 [0015] In another aspect, a remote center manipulator during a minimally invasive robotic surgery for limiting the position of the surgical instrument. 手术器械包括细长轴。 The surgical instrument includes an elongated shaft. 该轴具有远侧作业端，其经配置通过远程操纵中心插入到患者体腔中。 The shaft having a distal working end that is inserted into a patient through remote manipulation of the central body cavity configured. 远程中心操纵器包括安装基座、锥形摆动连杆和第一到第四连杆。 Remote center manipulator comprises a mounting base, a first tapered swing link and fourth link to. 锥形摆动连杆具有锥形摆动连杆近端和锥形摆动连杆远端。 Swing link having a tapered conical swing link proximal end and a tapered distal swing link. 锥形摆动连杆近端被联接到安装基座，用于围绕与远程操纵中心交叉的第一轴线转动。 A tapered proximal end is coupled to the swing link mounting base for rotation about intersecting the axis center of the first remotely operated. 第一连杆具有第一连杆近端和第一连杆远端。 A first link having a first link proximal end and a distal end of the first link. 第一连杆近端与锥形摆动连杆远端联接，用于围绕与远程操纵中心交叉的第二轴线转动。 The proximal end of the first link and the tapered distal end of the swing link is coupled for rotation about the center of the intersection with the second axis remote manipulator. 第二轴线不与第一轴线重合。 Second axes are not coincident with the first axis. 第二连杆具有第二连杆近端和第二连杆远端。 A second link rod having a proximal end and a second distal end of the second link. 第二连杆近端在第一平行四边形连杆机构接头处被可转动地联接到第一连杆远端。 The second link at a first proximal end of the quadrilateral linkage parallel joint is rotatably coupled to the distal end of the first link. 第三连杆具有第三连杆近端和第三连杆远端。 A third link having a third link and the third link a proximal end a distal end. 第三连杆近端在第二平行四边形连杆机构接头处被可转动地联接到第二连杆远端。 Third link proximal end of the second parallel link mechanism quadrangular joint rotatably coupled to the distal end of the second link. 第四连杆经配置支撑手术器械。 Fourth link configured to support the surgical instrument. 第四连杆通过第三平行四边形连杆机构接头被可转动地联接到第三连杆远端。 Fourth link joint is rotatably coupled to the distal end of the third link by a third parallelogram linkage. 第一、第二和第三平行四边形连杆机构接头被可转动地联接，使得第一平行四边形接头的转动产生第四连杆受限于围绕与远程操纵中心交叉的第三轴线转动的运动。 First, second and third joint parallelogram linkage rotatably coupled, such that rotation of the first parallelogram joint to a fourth rod produced is limited by the rotational motion around the center intersect with the remotely operated third axis. 第三轴线不与第一轴线或第三轴线中的任一个重合。 A third axis does not coincide with any of the first axis or the third axis.
[0016] 在许多实施例中，第一轴线与第二轴线之间的角度在10度与30度之间。 [0016] In many embodiments, the angle between the first axis and the second axis is between 10 degrees and 30 degrees. 例如，第一轴线与第二轴线之间的角度可以是大约15度。 For example, the angle between the first axis and the second axis may be about 15 degrees.
[0017] 在许多实施例中，锥形摆动连杆经配置相对于扭转和弯曲载荷是刚性的而没有过度重量。 [0017] In many embodiments, the tapered rod configured to swing with respect to the torsional and bending loads is rigid without excessive weight. 例如，在许多实施例中，锥形摆动连杆具有将锥形摆动连杆第一端连接到锥形摆动连杆第二端的锥形摆动连杆体区段。 For example, in many embodiments, the tapered pivot rod swing link having a tapered first end connected to the second end of the conical swing links swing links tapered body sections. 在许多实施例中，锥形摆动连杆体区段具有盒状横截面构造或管状构造。 In many embodiments, the tapered section of the swing link member having a box-like cross-sectional configuration or tubular configuration.
[0018] 在许多实施例中，该操纵器进一步包括锥形摆动接头，其将第四连杆可转动地联接到第三连杆远端，用于围绕与远程操纵中心交叉的第四轴线转动。 [0018] In many embodiments, the manipulator further comprising a conical pivot joint, which fourth link is rotatably coupled to the distal end of the third link, for rotation about the center of the cross and the remotely operated fourth axis . 第四轴线不与第一轴线、第二轴线或第三轴线中的任一个重合。 The fourth axis is not the first axis, the second axis or any axis in a third overlap. 在许多实施例中，锥形摆动接头可操作相对于第三连杆定向第四连杆，以便手术器械细长轴位于由第二轴线和第四轴线限定的平面中。 In many embodiments, the tapered pivot joint operatively oriented with respect to the third link fourth link, the surgical instrument to the elongated shaft lies in a plane defined by the second and fourth axes.
[0019] 在许多实施例中，操纵器包括正弦/余弦连杆，其可驱动联接第一、第二和第三平行四边形连杆机构接头中的至少一对。 [0019] In many embodiments, the manipulator includes a sine / cosine link, which may be coupled to drive at least one first, second and third parallelogram linkage joint. 以及在许多实施例中，带有定向烧曲的正弦/余弦连杆可驱动地联接第一、第二和第三平行四边形连杆机构接头中的至少一对。 And in many embodiments, the sine / cosine directional link with burning koji drivably coupled to the at least one first, second and third parallelogram linkage joint.
[0020] 在另一方面，公开了在微创机器人手术期间用于限制手术器械的位置的远程中心操纵器。 [0020] In another aspect, a remote center manipulator during a minimally invasive robotic surgery for limiting the position of the surgical instrument. 手术器械包括细长轴。 The surgical instrument includes an elongated shaft. 该轴具有远侧作业端，其经配置通过远程操纵中心插入到患者体腔中。 The shaft having a distal working end that is inserted into a patient through remote manipulation of the central body cavity configured. 远程中心操纵器包括安装基座和第一到第五连杆。 Remote center manipulator comprises a mounting base and the first to fifth link. 第一连杆与安装基座联接，以便相对于安装基座是可选择性重新定位的。 The first link is coupled with the mounting base, with respect to the mounting base is selectively repositioned. 第一连杆相对于第二连杆的运动被限制成围绕与远程操纵中心交叉的第一轴线的转动。 Movement of the second link of the first link is constrained to rotate about a first axis with respect to the center of the cross and the remotely operated. 第二连杆具有第二连杆近端和第二连杆远端。 A second link rod having a proximal end and a second distal end of the second link. 第二连杆近端被联接到第一连杆，用于围绕与远程操纵中心交叉的第二轴线转动。 The second link is coupled to the proximal end of the first link for rotation about the center of the intersection with the second axis remote manipulator. 第二轴线不与第一轴线重合。 Second axes are not coincident with the first axis. 第三连杆具有第三连杆近端和第三连杆远端。 A third link having a third link and the third link a proximal end a distal end. 第三连杆近端在第一平行四边形连杆机构接头处被可转动地联接到第二连杆远端。 A first third link proximal end parallel quadrilateral linkage joint rotatably coupled to the distal end of the second link. 第四连杆具有第四连杆近端和第四连杆远端。 A fourth link having a proximal end and a fourth link the distal end of the fourth link. 第四连杆近端在第二平行四边形连杆机构接头处被可转动地联接到第二连杆远端。 Fourth link proximal end of the second parallel link mechanism quadrangular joint rotatably coupled to the distal end of the second link. 第五连杆经配置支撑手术器械。 Fifth link configured to support the surgical instrument. 第五连杆在第三平行四边形连杆机构接头处被可转动地联接到第四连杆远端。 In the fifth link at a third joint quadrangle parallel link mechanism is rotatably coupled to the distal end of the fourth link. 第一、第二和第三平行四边形连杆机构接头被可转动地联接， 使得第一平行四边形接头的转动产生第五连杆受限于围绕与远程操纵中心交叉的第三轴线转动的运动。 First, second and third joint parallelogram linkage rotatably coupled, such that rotation of the first parallelogram joint produced is limited by the fifth link about the third axis of rotation and intersecting the center of the manipulation remote. 第三轴线不与第一轴线或第二轴线中的任一个重合。 A third axis does not coincide with any of the first axis or the second axis.
[0021] 在许多实施例中，安装基座包括弯曲特征，第一连杆被连接到该弯曲特征，使得第一连杆被限制成沿该弯曲特征移动。 [0021] In many embodiments, the mounting base includes a curved features, the first link is connected to the curved features, such that the first link is restricted to move along the curved feature. 该弯曲特征具有相对于远程操纵中心的恒定曲率半径。 The curved characteristic having a constant radius of curvature relative to the center of the manipulation remote.
[0022] 在许多实施例中，安装基座包括闭环弯曲特征，其中第一连杆被连接到该闭环弯曲特征。 [0022] In many embodiments, the mounting base comprises a closed loop curved features, wherein the first link is connected to the closed curved features. 第一连杆被限制成沿该闭环弯曲特征移动。 The first link is constrained to move along the closed loop curved features.
[0023] 在许多实施例中，操纵器包括正弦/余弦连杆，其可驱动地联接第一、第二和第三平行四边形连杆机构接头中的至少一对。 [0023] In many embodiments, the manipulator includes a sine / cosine link, which may be coupled to drive at least one first, second and third parallelogram linkage joint. 以及在许多实施例中，带有定向挠曲的正弦/余弦连杆可驱动地联接第一、第二和第三平行四边形连杆机构接头中的至少一对。 And in many embodiments, the sine / cosine directional link with a deflection drivably coupled to the at least one first, second and third parallelogram linkage joint.
[0024] 为了更全面理解本发明的本质和优点，应确保参照具体实施方式和附图。 [0024] For a fuller understanding of the nature and advantages of the present invention, reference should ensure that the detailed description and the accompanying drawings. 本发明的其他方面、目标和优点根据下面的附图和具体实施方式将变得显而易见。 Other aspects, objects and advantages of the present invention according to the accompanying drawings and specific embodiments will become apparent.
[0025] 图1是根据许多实施例的用于进行手术的微创机器人手术系统的平面图。 [0025] FIG. 1 is a plan view of a minimally invasive surgical robotic surgical system according to many embodiments.
[0026] 图2是根据许多实施例的用于机器人手术系统的外科医生的控制台的透视图。 [0026] FIG. 2 is a perspective view of the surgeon for a robotic surgical system console many embodiments.
[0027] 图3是根据许多实施例的机器人手术系统电子推车的透视图。 [0027] FIG. 3 is a perspective view of an electronic cart robotic surgery system with many embodiments.
[0028] 图4概略示出根据许多实施例的机器人手术系统。 [0028] FIG. 4 shows a schematic of a robotic surgical system in accordance with many embodiments.
[0029] 图5A是根据许多实施例的机器人手术系统的患者侧推车(手术机器人)的主视图/ 前视图。 [0029] FIG 5A is a side cart (surgical robot) of the robotic surgery system, many patients embodiment of a front view / front view.
[0030] 图5B是根据许多实施例的机器人手术工具的主视图。 [0030] FIG 5B is a front view of a robotic surgical tool embodiment in accordance with many embodiments.
[0031] 图6是根据许多实施例的远程中心操纵器的透视示意图，所述远程中心操纵器包括可操作再定向器械夹持器而不移动远程操纵中心的锥形摆动接头。 [0031] FIG. 6 is a schematic perspective view of the remote center manipulator many embodiments, the remote center manipulator comprises a gripper device operable reoriented without moving the center of the conical remotely operated swivel connector.
[0032] 图7是根据许多实施例的远程中心操纵器的透视示意图，所述远程中心操纵器包括可操作再定向操纵器的外侧部分而不移动远程操纵中心的锥形摆动连杆。 [0032] FIG. 7 is a schematic perspective view of the remote center manipulator many embodiments, the remote center manipulator comprises an outer portion operable reoriented without moving the manipulator tapered center remotely operated swing links.
[0033] 图8是根据许多实施例的远程中心操纵器的透视示意图，所述远程中心操纵器包括图6的锥形摆动接头和图7的锥形摆动连杆。 [0033] FIG. 8 is a schematic perspective view of the remote center manipulator many embodiments, the remote center manipulator comprises a tapered conical pivot joint of FIG. 6 and FIG. 7 of the swing links.
[0034] 图9是根据许多实施例的远程中心操纵器的透视示意图，所述远程中心操纵器包括可操作再定向操纵器的外侧部分而不移动远程操纵中心的俯仰连杆机构。 [0034] FIG. 9 is a schematic perspective view of the remote center manipulator many embodiments, the remote center manipulator comprises an outer portion operable reoriented without moving the manipulator pitch link mechanism remotely operated centers.
[0035] 图10是根据许多实施例的远程中心操纵器的透视示意图，所述远程中心操纵器包括图6的锥形摆动接头、图7的锥形摆动连杆和图9的俯仰连杆机构。 [0035] FIG. 10 is a schematic perspective view of the remote center manipulator many embodiments, the remote center manipulator comprising a swivel connector tapered FIG. 6, FIG. 7 of the conical swinging link mechanism and the pitch link 9 .
[0036] 图11示出根据许多实施例的远程中心操纵器，所述远程中心操纵器包括可操作再定向操纵器的连杆机构组件而不移动远程操纵中心的锥形摆动连杆。 [0036] FIG. 11 shows a number of embodiments of the remote center manipulator embodiment, the remote center manipulator comprising a linkage assembly operably reoriented without moving the manipulator tapered remotely operated according to the center of swing links.
[0037] 图12示出根据许多实施例的远程中心操纵器，所述远程中心操纵器包括可操作再定向器械夹持器而不移动远程操纵中心的锥形摆动接头。 [0037] FIG. 12 illustrates a remote center manipulator in accordance with many embodiments, the remote center manipulator comprises a gripper device operable reoriented without moving the center of the conical remotely operated swivel connector.
[0038] 图13A、图13B和图13C示出器械夹持器在不同取向的情况下图8的远程中心操纵器。 [0038] FIGS. 13A, 13B and 13C show the instrument holder remote center manipulator of FIG. 8 in the case of different orientations.
[0039] 图14A示出根据许多实施例的可以被用于可转动地联接图8中的远程中心操纵器中的两个平行四边形接头的正弦/余弦连杆。 [0039] FIG. 14A shows a number of sine / cosine rod embodiment may be rotatably coupled to FIG. 8 remote center manipulators two parallelogram joints.
[0040] 图14B示出根据许多实施例的用于减轻连杆中角力引起载荷的定向挠曲，所述连杆用于可转动地联接到远程中心操纵器中的两个平行四边形接头。 [0040] FIG 14B illustrates an embodiment for mitigating many directional link in wrestling deflection caused by the load, the link may be rotatably coupled to a remote center manipulators two parallelogram joints.
[0041] 图15示出根据许多实施例的远程中心操纵器，所述远程中心操纵器包括弯曲特征，该弯曲特征具有相对于远程操纵中心的固定曲率半径，并且外侧连杆机构的基座连杆可以沿着该弯曲特征被重新定位。 [0041] FIG. 15 illustrates a remote center manipulator in accordance with many embodiments, the remote center manipulator comprises a curved features, the curved characteristic having a constant radius of curvature with respect to the center of the manipulation remote, and the base connected to the outer link mechanism rod may be repositioned along the curved feature.
[0042] 图16示出根据许多实施例的远程中心操纵器，所述远程中心操纵器包括闭环曲线特征，外侧连杆机构的基座连杆被连接到该闭环曲线特征，使得该基座连杆被限制成沿着该闭环曲线特征移动。 [0042] FIG. 16 illustrates a remote center manipulator in accordance with many embodiments, the remote center manipulator comprises a closed loop characteristic curve of the base outer link of the link mechanism is connected to the closed loop characteristic curve, so that even the base the rod is restricted to move along the closed loop characteristic curve.
[0043] 图17是根据许多实施例的远程中心操纵器的透视示意图，在该远程中心操纵器中的器械夹持器围绕通过远程中心的偏转轴线转动并围绕通过远程中心的俯仰轴线转动，所述偏转轴线不与所述俯仰轴线垂直。 [0043] FIG. 17 is a schematic perspective view of the remote center manipulator many embodiments, the instrument holder in which the remote center manipulator about the axis of rotation of the deflector and the remote center of rotation about a pitch axis through the center of the remote, the with said deflection axis is not perpendicular to the pitch axis.
[0044] 图18是根据许多实施例的远程中心操纵器的透视示意图，其中在图17中的远程中心操纵器进一步包括图9的俯仰连杆机构。 [0044] FIG. 18 is a schematic perspective view of the remote center manipulator many embodiments, wherein the remote center manipulator in FIG. 17 further comprising a pitch link mechanism 9 of FIG.
[0045] 图19是根据许多实施例的远程中心操纵器的透视示意图，其中在图18中的远程中心操纵器进一步包括图6的锥形摆动接头。 [0045] FIG. 19 is a schematic perspective view of the remote center manipulator many embodiments, wherein the remote center manipulator 18 in FIG. 6 further includes a tapered pivot joint of FIG.
[0046] 图20是根据许多实施例的远程中心操纵器的侧视图。 [0046] FIG. 20 is a side view of the remote center manipulator many embodiments.
[0047] 图21是图20的远程中心操纵器的俯视图。 [0047] FIG. 21 is a view of the remote center manipulator 20 in a plan view.
[0048] 图22图示说明通过歪斜俯仰轴线实现图20的远程中心操纵器的操作空间包络的减少。 [0048] FIG. 22 illustrates a reduction operation realized envelope space remote center manipulator 20 of FIG skewed by a pitch axis.
[0049] 图23是根据许多实施例的图20的远程中心操纵器在器械夹持器相对于远程操纵中心实现最大俯仰返回构造中的侧视图。 [0049] FIG. 23 is a remote center manipulator 20 of many embodiments of the instrument holder with respect to the remote center manipulator maximum pitch return side configuration.
[0050] 在以下描述中，将描述本发明的各个实施例。 [0050] In the following description, various embodiments of the present invention will be described. 出于解释的目的，具体构造和细节被阐述以便提供对所述实施例的透彻理解。 For purposes of explanation, specific configurations and details are set forth in order to provide a thorough understanding of the embodiments. 不过，本发明可以在没有这些具体细节的情况下被实践，这对于本领域的技术人员来说是显而易见的。 However, the present invention may be practiced without these specific details, it will be apparent to those skilled in the art. 而且，众所周知的特征可以被省略或简化，以免模糊所描述的实施例。 Also, well-known features may be omitted or simplified in order not to obscure the described embodiments.
[0051] 微创机器人手术 [0051] Minimally Invasive Robotic Surgery
[0052] 现参照附图，其中贯穿若干附图，相同参考编号表示相同部件，图1是微创机器人手术(MIRS)系统10的平面视图说明，所述MIRS系统10通常用于对躺在操作台14上的患者12 进行微创诊断或手术。 [0052] Referring now to the drawings, wherein throughout the several drawings, like reference numerals represent like parts, FIG. 1 is a plan view illustrating a Minimally Invasive Robotic Surgery (MIRS) system 10, the system 10 is typically used for MIRS lying operations 12 of 14 patients in the minimally invasive diagnosis or surgery. 该系统可包括在手术过程期间供外科医生18使用的外科医生的控制台16。 The system may comprise a surgeon for the surgeon 18 uses console 16 during a surgical procedure. 一个或更多个助理20也可以参与该手术过程。 One or more assistant 20 can also participate in the surgical procedure. MIRS系统10可以进一步包括患者侧推车22 (手术机器人)和电子推车24。 MIRS system 10 may further include a patient-side cart 22 (surgical robot) 24 and an electronic cart. 患者侧推车22可以操纵至少一个可拆卸联接的工具组合件26 (在下文中，被简称为“工具”），通过患者12体内的微创切口，同时外科医生18通过控制台16观察手术部位的图像。 A patient-side cart 22 may be removably coupled to the at least one handling tool assemblies 26 (hereinafter, simply referred to as "tool"), through a minimally invasive incision in the body of the patient 12, while the surgeon console 18 through the observation of the surgical site 16 image. 手术部位的图像可通过内窥镜28 (例如立体内窥镜)获得，所述手术部位图像可以通过患者侧推车22操纵以定位和定向内窥镜28。 Image of the surgical site can be obtained by the endoscope 28 (e.g., stereoscopic endoscope), the surgical site image may be manipulated to position and orient the endoscope 28 through the patient side cart 22. 电子推车24可以被用于处理手术部位的图像，用于随后通过外科医生的控制台16向外科医生18显示。 Cart 24 may be used for electronic image processing surgical site, for subsequent display to the surgeon 18 via the console 16 of the surgeon. 一次使用手术工具26的数量通常取决于诊断或手术过程以及手术室内的空间限制以及其他因素。 The first use of the surgical tool usually depends on the number 26 of the diagnostic or surgical procedure and operating room space limitations and other factors. 如果在手术过程期间有必要改变正在使用的一个或更多个工具26,助理20可以从患者侧推车22 移走工具26并用手术室中来自托盘30的另一个工具26将其替换。 If it is necessary during the surgical procedure to change one or more of the tools 26 being used, the patient side cart 20 may assistants 22 and tool 26 is removed in the operating room with another tool from the tray 30 from 26 to replace.
[0053] 图2示出外科医生的控制台16的透视图。 It shows a perspective view of a surgeon console 16. [0053] FIG. 外科医生的控制台16包括左眼显示器32 和右眼显示器34,其用于向外科医生18呈现能够具有深度感知的手术部位的协同立体视图。 Surgeon's console 16 includes a left eye and a right eye display 32 a display 34 for presenting a perspective view of a synergistic surgical site can have a depth perception of the surgeon 18. 控制台16进一步包括一个或更多个输入控制装置36,其进而促使患者侧推车22 (在图1 中示出）操纵一个或更多个工具。 Console 16 further comprising one or more input control device 36, which in turn causes the patient side cart 22 (shown in FIG. 1) to manipulate one or more tools. 输入控制装置36可以提供与其关联的工具26 (在图1中示出）相同的自由度，以向外科医生提供输入控制装置36与工具26—体化的远程呈现或感知， 以便外科医生具有直接控制工具26的强烈知觉。 The control device 36 may provide input associated therewith tool 26 (shown in FIG. 1) the same degree of freedom, a control input means to provide the surgeon with the tool 36 body of telepresence 26- or perceived, so that the Surgeon has a direct 26 perception of a strong control tool. 为此，位置、力和触觉反馈传感器(未示出） 可以通过输入控制装置36将位置、力和触觉感觉从工具26传输向外科医生的手。 To this end, position, force, and tactile feedback sensors (not shown) may be 36 position, force and tactile sensation hand tool 26 from the transmission to the surgeon via the input control means. 每个单独输入控制装置36作为控制相应从手术工具以实现远程操作的人为控制主控器。 Each individual input control device 36 as a controller of the corresponding surgical tool for remote controlling the operation of the master. 当这种远程操作与以三维感知的手术部位的显示组合并且外科医生的手在主控器上被定位在与手术部位处观察的工具图像对应的位置处时，能够实现远程呈现的感觉。 When such a remote operation combined to display a three-dimensional perception of the surgical site and the surgeon's hand on the master tool is positioned at a position corresponding to the image viewed at the surgical site, it is possible sense of telepresence.
[0054] 外科医生的控制台16通常被设置在与患者相同的房间中，以便外科医生可以直接监测手术过程，如果必要可以实际存在并直接与助理说话而不是通过电话或其他通信介质。 [0054] surgeon's console 16 is typically provided in the same room as the patient, so that the surgeon may directly monitor the procedure, and if necessary, actually present instead speak directly by telephone assistant or other communications medium. 不过，外科医生可以位于不同房间、完全不同的建筑物或远离患者的其他位置，以允许远程手术过程。 However, the surgeon can be located in different rooms, different buildings or other locations away from the patient, to allow remote procedure.
[0055] 图3示出电子推车24的透视图。 [0055] FIG. 3 shows a perspective view of an electronic cart 24. 电子推车24可以与内窥镜28联接并且可以包括处理捕捉图像供随后在外科医生的控制台或位于本地和/或远程的其他合适的显示器上向外科医生显示的处理器。 Cart 24 may be an electronic endoscope 28 and may include a coupling processor processing the captured images for subsequent display on the surgeon or the surgeon's console located in local and / or other suitable display of the remote. 例如，在使用立体内窥镜时，电子推车24可以处理捕捉图像，向外科医生呈现手术部位的协同立体图像。 For example, when a stereoscopic endoscope, an electronic cart 24 may process the captured image, showing a synergistic stereoscopic image of the surgical site to the surgeon. 这类协同可以包括相对图像之间的对齐并且可以包括调整立体内窥镜的立体工作距离。 Such synergy may include an alignment between the relative image and may include adjusting a stereoscopic stereoscopic endoscope working distance. 作为另一个示例，图像处理可以包括使用先前确定的摄像头校准参数补偿图像捕捉装置的成像误差，例如光学像差。 As another example, image processing may include a camera imaging errors compensating calibration parameters using the image capturing apparatus previously determined, for example, optical aberrations.
[0056] 图4概略示出机器人手术系统50 (例如图1的MIRS系统10)。 [0056] FIG. 4 shows a schematic robotic surgery system 50 (e.g. MIRS system 10 of FIG. 1). 如上所述，外科医生的控制台52 (例如图1中的外科医生的控制台16)可以在微创手术过程期间被外科医生用于控制患者侧推车(手术机器人)54 (例如图1中的患者侧推车22)。 As described above, the surgeon console 52 (e.g., a surgeon console 16 in FIG. 1) may be used to control the surgeon patient side cart (surgical robot) 54 (e.g. FIG. 1 during a minimally invasive surgical procedure the patient side cart 22). 患者侧推车54可以使用诸如立体内窥镜的成像装置捕捉手术部位的图像并向电子推车56 (例如图1中的电子推车24)输出捕捉的图像。 Patient side cart 54 may use an image of the imaging means for capturing stereoscopic endoscope surgical site to an electronic image such as trolleys 56 (e.g. an electronic cart in FIG. 124) output captured. 如上所述，电子推车56可以在任何随后显示之前以各种方式处理捕捉的图像。 As described above, the cart 56 may process the electronic images captured in various ways before any subsequent display. 例如，电子推车56可以在经由外科医生的控制台52向外科医生显示组合图像之前用虚拟控制界面覆盖捕捉的图像。 For example, the cart 56 electronic images prior to combining with the virtual control interface cover captured image may be displayed to the surgeon 52 via the surgeon's console. 患者侧推车54可以输出供在电子推车56外部处理的捕捉的图像。 Patient side cart 54 may output 56 for external processing in the captured electronic image of the cart. 例如，患者侧推车54可以向处理器58输出捕捉的图像，处理器58可以被用于处理捕捉的图像。 For example, a patient-side cart 54 can be captured to the image output processor 58, the processor 58 may be used to process the captured image. 图像还可以通过电子推车56和处理器58的组合进行处理，电子推车56和处理器58可以被联接在一起共同、依次和/或组合处理捕捉的图像。 The image can also be performed by a combination of the cart 56 and the electronic processor 58 processing the electronic processor 58 and the cart 56 may be coupled together jointly, sequentially image and / or a combination of processing captured. 一个或更多个单独的显示器60也可以与处理器58和/或电子推车56联接在一起，用于图像(例如，手术部位的图像或其他相关图像)的本地和/或远程显示。 One or more individual displays 60 may be coupled to the processor 58 and / or electronic trolley 56 together, for local and / or remote images (e.g., images or other surgical site related image) is displayed.
[0057] 图5A和5B分别示出患者侧推车22和手术工具62。 [0057] Figures 5A and 5B illustrate a patient side cart 22 and a surgical tool 62. 手术工具62是手术工具26的示例。 62 is an example of the surgical tool of the surgical tool 26. 所示出的患者侧推车22提供三个手术工具26和成像装置28的操纵，该成像装置例如用于手术部位的图像捕捉的立体内窥镜。 Patient side cart 22 provides three illustrated surgical tool manipulator 26 and the imaging device 28, the image forming apparatus, for example, stereoscopic endoscope for capturing an image of the surgical site. 操纵通过具有若干机器人接头的机器人机构提供。 Actuating means is provided by a robot having a number of robotic joints. 成像装置28和手术工具26可以通过患者内部的切口安置和操纵，以便运动的远程中心被保持在切口处，以将切口尺寸最小化。 The imaging device 28 and the surgical tool 26 can be positioned through the incision and manipulated inside the patient, so as to move the remote center to be held at the cuts, in order to minimize the size of the incision. 手术部位的图像可以包括当手术工具26被安置在成像装置28的视场内时，手术工具26的远端的图像。 The image may include a surgical site when the surgical tool 26 is placed in the field of view of the image forming apparatus 28, the distal end 26 of the surgical tool image. 诊断或治疗的端部执行器63通常在手术器械的长轴的远端处。 Diagnosis or treatment of the end effector 63 at the distal end a major axis generally surgical instrument.
[0058] 硬件受限的远程中心操纵器 [0058] Hardware constrained remote center manipulator
[0059] 图6示出根据许多实施例的远程中心操纵器70的透视示意图。 [0059] FIG. 6 shows a schematic perspective view of the remote center 70 of the manipulator in accordance with many embodiments. 远程中心操纵器70 由安装基座72支撑。 Remote center manipulator 70 supported by the mounting base 72. 远程中心操纵器70包括由安装基座72支撑的基座连杆74、偏转接头76、 延伸连杆78、基座平行四边形接头80、第一平行四边形连杆82、第一平行四边形接头84、第二平行四边形连杆86、第二平行四边形接头88、锥形摆动机构90和器械夹持器92。 Remote center manipulator 70 comprises a base 72 supported by the mounting base link 74, a deflection fitting 76, the link 78 extends, the base parallelogram joint 80, a first parallelogram linkage 82, a first parallelogram joint 84, The second parallelogram linkage 86, the second parallelogram joint 88, the swing mechanism 90 and the tapered instrument holder 92. 器械夹持器92经配置支撑并沿插入轴线96平移手术器械94 (S卩，器械夹持器92包括移入和移出患者体壁处切口的或在沿插入轴线96的患者自然体孔处的手术器械94的至少一个棱柱接头）。 Instrument holder 92 configured to support and translate along the insertion axis 96 surgical instrument 94 (S Jie, instrument holder 92 includes a body wall into and out of the patient along the incision or a natural body orifice of the patient is inserted into the axis of the surgical instrument 96 at least a prismatic joint 94). 手术端部执行器95在手术器械94的远端处。 Surgical end effector 95 at the distal end 94 of the surgical instrument. 端部执行器可以用于任何手术功能，其包括治疗、诊断或成像手术装置。 The end effector may be used in any surgical functions including therapeutic, diagnostic or surgical imaging device. 端部执行器可以以各种已知的方式完成滚动。 The end effector can be accomplished in various known ways to scroll. 例如，器械夹持器92或器械94自身可以包括允许器械轴围绕插入轴线96滚动的器械轴滚动能力。 For example, the instrument 92 or instrument holder 94 itself may include allowing the instrument shaft 96 about the instrument shaft having a rolling capacity of the rolling axis of insertion. 作为替代示例，轴可以保持静止滚动，并且端部执行器在器械轴的端部处滚动。 As an alternative example, the shaft may remain stationary scroll and the scroll end effector at the end of the instrument shaft.
[0060] 安装基座72允许远程中心操纵器70通过推车底座的设定臂/接头、顶板底座、地板/柱脚底座或其他底座表面进行安装和支撑，以便基座在地面参考系(如通过地面符号所表示的）中保持有效静止。 [0060] The mounting base 72 allows the remote center manipulator 70 and mounting the support arm by setting the cart base / linker, the top plate of the base, the floor / pedestal base or other base surface to the base in the ground-based reference (e.g. ) still held active by the ground symbol represents. 远程中心操纵器70经配置成使得在手术器械94被操纵时，远程操纵中心(RC)相对于安装基座72不移动。 Remote center manipulator 70 is configured such that, when the surgical instrument 94 is manipulated, the manipulation remote center (RC) does not move relative to the mounting base 72. 通过在相对于患者的固定位置和取向上支撑安装基座72,远程操纵中心(RC)相对于患者保持固定，从而为手术器械94提供切入点。 Passed over a fixed position relative to the patient and the orientation of the support base 72 is mounted, remotely operated Center (RC) remains fixed relative to the patient to provide an entry point for the surgical instrument 94. 在远程操纵中心(RC)相对于患者被固定的情况下，可以实现手术器械94的操纵，而没有在手术器械94 的切入位置处对患者细胞组织强加潜在危害力的危险。 In the remote center manipulator (RC) with respect to the case where the patient is immobilized, may be implemented to manipulate the surgical instrument 94, without imposing potentially harmful force to patient tissue at a cutting position 94 of the surgical instrument of danger. 在手术器械轴通过插管的实施例中，远程操纵中心通常被定义在沿插管中心线的点，虽然在某些实施例中，插管可以是可选的。 In the surgical instrument through the cannula shaft embodiment, the remote center manipulator generally defined at a point along the center line of the cannula, although in some embodiments, the cannula may be optional.
[0061] 偏转接头76将延伸连杆78的近端可转动地联接到基座连杆74的远端。 [0061] The deflection fitting 76 extending proximal end of the link 78 is rotatably coupled to the distal end 74 of the base link. 偏转接头76 可操作产生延伸连杆78围绕延伸通过远程操纵中心(RC)的偏转轴线98的受控转动(滚动）。 Deflection fitting 76 is operable to generate the link 78 extends through the center of the pivot axis remote manipulator (RC) 98 is controlled in rotation (rolling) extending around. 因为器械夹持器92经由远程中心操纵器70的介入连杆机构部件被联接到延伸连杆78,延伸连杆78围绕偏转轴线98的转动(滚动)产生器械夹持器92围绕偏转轴线98的相应转动，从而对于偏转接头76的所有角度取向保持远程操纵中心〇?〇相对于安装基座72的位置和取向。 Because the instrument holder 92 is coupled via an intervening member link mechanism remote center manipulator link 78 to the extension 70, the extension 98 of the link 78 is rotated (roll) generated about the yaw axis of the instrument holder 92 about the pivot axis 98 corresponding rotation, thereby maintaining the central square remotely operated all the deflection fitting 76 is oriented at an angle? relative to the square mounting base 72 of the position and orientation. 术语“偏转”是任意的，并且可以看出在该术语的情况下，远程操纵中心(RC)静止、围绕偏转轴线98的转动将促使手术器械94的远端以如偏转所限定的方式移动。 The term "deflection" is arbitrary, and may be seen in the case of this term, the remote center manipulator (RC) stationary, rotatable about a pivot axis 98 will cause the distal end of the surgical instrument 94 is moved to deflect as defined manner.
[0062] 远程中心操纵器70的平行四边形连杆机构部分100经配置产生受限于围绕俯仰轴线102的转动的器械夹持器92的运动，其中俯仰轴线102与远程操纵中心(RC)交叉。 [0062] The remote center parallelogram manipulator linkage mechanism 70 is configured to generate part 100 is limited to about pitch axis of rotation 92 of the instrument holder 102, wherein the pitch axis 102 intersecting with the remote manipulation Center (RC). 通过将器械夹持器92的相应运动限制围绕俯仰轴线102的转动(俯仰），插入轴线96继续与远程操纵中心（RC)交叉，并且器械夹持器92与远程操纵中心（RC)之间的距离得以维持。 By a corresponding movement between the instrument holder 92 limits the rotation (tilting) about the pitch axis 102, intersecting with the insertion axis 96 continues to manipulate the remote center (RC), and the instrument holder 92 and the remotely operated center (RC) of distance is maintained. 术语“俯仰”是任意的，并且可以看出在该术语的情况下，远程操纵中心(RC)静止、围绕俯仰轴线102 的转动将促使手术器械94的远端以如俯仰所限定的方式移动。 The term "pitch" is arbitrary, and may be seen in the case of this term, the remote center manipulator (RC) stationary, rotatable about a pitch axis 102 will cause the distal end of the surgical instrument 94 is moved in the pitch as defined manner.
[0063] 平行四边形连杆机构部分100包括平行四边形基座接头80、第一平行四边形连杆82、第一平行四边形接头84、第二平行四边形连杆86、第二平行四边形接头88、锥形摆动机构90和器械夹持器92。 [0063] The parallelogram linkage base portion 100 comprises a parallelogram joint 80, a first parallelogram linkage 82, a first parallelogram joint 84, a second parallelogram linkage 86, the second parallelogram joint 88, tapered oscillating mechanism 90 and the instrument holder 92. 基座平行四边形接头80将第一平行四边形连杆82可转动地联接到延伸连杆78的远端。 The base 80 of the first parallelogram joint parallelogram linkage 82 is rotatably coupled to the distal end 78 of the extension link. 基座平行四边形接头80可操作产生第一平行四边形连杆82围绕平行于俯仰轴线102的基座接头轴线104的受控转动。 Parallelogram base 80 is operable to generate a first joint rotatable about parallel 82 controlled by a base joint axis parallel to the pitch axis 104 of the parallelogram linkage 102. 基座接头轴线104的位置和取向相对于延伸连杆78是固定的。 Position and orientation of the base relative to the joint axis 104 extending rod 78 is fixed. 第一平行四边形接头84将第二平行四边形连杆86的近端可转动联接到第一平行四边形连杆82的远端，用于第二平行四边形连杆86围绕平行于俯仰轴线102的第一接头轴线106转动。 A first parallelogram joint 84 proximal end 86 of the second parallelogram linkage rotatably coupled to the distal end of the first parallelogram linkage 82, a second parallelogram linkage 86 about an axis parallel to the pitch axis of the first 102 joint axis 106 is rotated. 第一接头轴线106的位置和取向相对于第一平行四边形连杆82是固定的。 A first joint axis 106 position and orientation relative to the first parallelogram link 82 is fixed. 第二平行四边形接头88将锥形摆动机构90的近端可转动地联接到第二平行四边形连杆86 的远端，用于锥形摆动机构90围绕平行于俯仰轴线102的第二接头轴线108转动。 The second parallelogram joint mechanism 88 swinging the proximal taper 90 is rotatably coupled to the distal end of the second parallelogram linkage 86, the swing mechanism 90 for the cone axis parallel to the pitch axis of the second joint axis 102 108 rotation. 第二接头轴线108的位置和取向相对于第二平行四边形连杆86是固定的。 108 position and orientation relative to the second joint axis to the second parallelogram linkage 86 is fixed. 因为器械夹持器92被联接到锥形摆动机构90的远端，器械夹持器92被限制成围绕第二接头轴线108转动。 Because the instrument holder 92 is coupled to the tapered distal end of the swing mechanism 90, the instrument holder 92 is constrained to rotate about a second joint axis 108.
[0064] 第一和第二平行四边形接头84、88被可转动地联接到基座平行四边形接头80,以便基座平行四边形接头80的致动致动平行四边形连杆机构部分100,从而产生器械夹持器92被限制成围绕俯仰轴线102转动的相应运动。 [0064] The first and second parallelogram joint 84, 88 is rotatably coupled to the base parallelogram joint 80, joint to the base parallelogram actuating the actuator 80 of the parallelogram linkage portion 100, thereby producing the instrument holder 92 is limited to a corresponding movement of rotation about the pitch axis 102. 任何合适的方案可以被用于可转动地联接基座平行四边形接头80、第一平行四边形接头84和第二平行四边形接头88。 Any suitable scheme may be used to rotatably couple the base parallelogram joint 80, a first joint 84 and second parallelogram parallelogram joint 88. 例如，基座平行四边形接头80可以包括基座滑轮，其被可转动地固定到延伸连杆78并被安装以围绕基座接头轴线104相对于第一平行四边形连杆82转动。 For example, the base parallelogram joint 80 may include a base a pulley, which is rotatably secured to the link 78 and is mounted to extend around the base 82 with respect to the joint axis 104 rotates the first linkage parallelogram. 第一平行四边形接头84可以包括第一滑轮， 其被可转动地固定到第二平行四边形连杆86并被安装以围绕第一接头轴线106相对于第一平行四边形连杆82转动。 A first parallelogram joint 84 may include a first pulley, which is rotatably secured to the second parallelogram linkage 86 and is mounted about a first joint axis 82 is rotated 106 with respect to the first parallelogram linkage. 通过将第一滑轮的转动连接到第二滑轮的转动，例如通过一个或更多个驱动带或一个或更多个连杆，第二平行四边形连杆86相对于第一平行四边形连杆82 的转动可以通过第一平行四边形连杆82相对于延伸连杆78的转动而被驱动，使得第二平行四边形连杆86与延伸连杆78之间同一的相对取向在针对第一平行四边形连杆82相对于延伸连杆78的所有角度取向被保持。 By the rotation of the first rotation of the second pulley is connected to a pulley, for example by one or more drive belts or one or more links, the second parallelogram linkage 86 relative to the first link 82 of the parallelogram can be rotated by a first parallelogram linkage 82 relative to the rotation of the link 78 extends is driven, so that the second parallelogram linkage 86 extending between the link 78 in the same relative orientation for the first parallel parallelogram linkage 82 All angular orientation with respect to extension link 78 is maintained. 以同样的方式，第一平行四边形接头84可以包括第三滑轮，其被可转动地固定到第一平行四边形连杆82并被安装以围绕第一接头轴线106相对于第二平行四边形连杆86转动。 In the same manner, a first parallelogram joint 84 may include a third pulley, which is fixed to the first parallel parallelogram linkage rotatably mounted around 82 and 106 of the first joint axis relative to the second parallelogram linkage 86 rotation. 第二平行四边形接头88可以包括第四滑轮，其被可转动地固定到锥形摆动机构90的近端并被安装以围绕第二接头轴线108相对于第二平行四边形连杆86转动。 The second parallelogram joint 88 may include a fourth pulley, which is rotatably secured to the proximal end 90 of the tapered swing mechanism 108 and is mounted relative to the second parallelogram linkage 86 is rotated about the second joint axis. 通过将第三滑轮的转动连接到第四滑轮的转动，例如通过一个或更多个驱动带或一个或更多个连杆，锥形摆动机构90相对于第二平行四边形连杆86的转动可以通过第二平行四边形连杆86相对于第一平行四边形连杆82的转动而被驱动，使得插入轴线96与第一平行四边形连杆82之间同一的相对取向在针对第二平行四边形连杆86相对于第一平行四边形连杆82的所有角度取向被保持。 By rotation of the third pulley to the fourth pulley connected to the rotation, e.g., by one or more drive belts or one or more links, conical swinging mechanism 90 relative to the second parallelogram linkage 86 can be rotated the second parallelogram linkage 86 relative to the first rotation of the parallelogram linkage 82 is driven, so that the insertion axis 96 of the first parallelogram linkage 82 between the relative orientation of the same for the second parallelogram linkage 86 a first angular orientation with respect to all of the parallelogram linkage 82 is maintained.
[0065] 锥形摆动机构90包括近侧锥形摆动连杆110和锥形摆动接头112。 [0065] The oscillating mechanism 90 comprises a tapered proximal tapered conical swing link 110 and the swivel connector 112. 锥形摆动接头112将器械夹持器92可转动地联接到近侧锥形摆动连杆110,使得锥形摆动接头112的致动围绕与远程操纵中心(RC)交叉的锥形摆动轴线114相对于近侧锥形摆动连杆110重新定向器械夹持器92。 The tapered joint 112 swings the instrument holder 92 is rotatably coupled to the proximal tapered swing links 110, 112 so that the tapered actuation of the swivel connector about the remote center manipulator (RC) intersecting the pivot axis 114 relative to the tapered swing link 110 to a proximal tapered redirecting instrument holder 92. 锥形摆动接头112的转动促使手术器械94的轴沿中心在锥形摆动轴线114上并且在远程操纵中心(RC)处具有顶点的圆锥的表面摆动。 Conical rotation pivot joint 112 causes the surgical instrument 94 along the central axis of the conical pivot axis 114 and having a conical surface at the vertex of remotely operated pivoting center (RC) at. 器械夹持器92围绕锥形摆动轴线114的重新定向可以被用于任何合适目的，例如避免与毗邻手术操纵器和/或患者的碰撞， 或用于在体壁处提供增加的空间以允许手术人员访问器械进入身体的无菌手术区域。 Instrument holder 92 around the conical pivot axis 114 reorientation may be used for any suitable purpose, such as avoiding the collision with the adjacent surgical manipulator and / or patient, or for providing increased space at the wall thereof to allow the surgical personnel access equipment to enter the sterile surgical area of ​​the body. 器械夹持器92围绕锥形摆动轴线114的重新定向还可以被用于延伸器械夹持器92相对于患者的可用运动范围。 Instrument holder 92 around the conical pivot axis 114 reorientation may also be used to extend the available range of motion of the instrument holder 92 with respect to the patient. 锥形摆动轴线114提供一个冗余轴线，器械夹持器92可以围绕所述一个冗余轴线在远程操纵中心(RC)附近转动。 Conical pivot axis 114 to provide a redundant axis, instrument holder 92 can be rotated around the center of the remote manipulator (RC) about the axis of a redundancy. 锥形摆动轴线114不与偏转轴线98、俯仰轴线102或插入轴线96中的任一个对齐。 Conical pivot axis 114 is not 98, 96 or any one insertion axis 102 in the pitch axis and a yaw axis is aligned. 不过，在手术中，锥形摆动轴线114与偏转轴线98之间的角度可以随远程中心操纵器70被铰接而改变。 However, during surgery, the pivot axis 114 can be tapered with the remote center manipulator 70 is hinged to change the angle between the pivot axis 98. 锥形摆动机构90是可选的，并且可以如本文所述被包括在各个操纵器实施例中或不被包括在各个操纵器实施例中。 Tapered oscillating mechanism 90 is optional and may be included as the embodiments described herein or may not be included in various embodiments of the manipulator in the various embodiments manipulator. 出于本说明书的目的，锥形摆动机构90可以被认为是与更接近地处于操纵器中的其他锥形摆动机构区分的远侧锥形摆动机构(例如，参见图8,其示出另一个“近侧”锥形摆动机构）。 For purposes of this specification, the oscillating mechanism 90 may be tapered with a distal tapered considered more closely in the oscillating mechanism oscillating mechanism to distinguish other tapered manipulators (e.g., see FIG. 8, which shows another "proximal" tapered swing mechanism).
[0066] 图7是根据许多实施例的远程中心操纵器120的透视示意图。 [0066] FIG. 7 is a perspective schematic view of a number of embodiments of the remote center manipulator 120. 远程中心操纵器120 包括一些与图6的远程中心操纵器70相同的部件。 Remote center manipulator member 120 comprises the same number of the remote center manipulator 70 in FIG. 6. 共享部件包括安装基座72、基座连杆74、 偏转接头76、延伸连杆78、基座平行四边形接头80、第一平行四边形连杆82、第一平行四边形接头84、第二平行四边形连杆86、第二平行四边形接头88和器械夹持器92。 Sharing means comprises a mounting base 72, the base link 74, a deflection fitting 76, the link 78 extends, the base parallelogram joint 80, a first parallelogram linkage 82, a first parallelogram joint 84, the second parallelogram is connected rod 86, connector 88 and a second parallelogram instrument holder 92. 远程中心操纵器120不包括锥形摆动机构90。 Remote center manipulator 120 does not swing mechanism 90 includes a tapered. 相反，第二平行四边形接头88将器械夹持器92可转动地联接到第二平行四边形连杆86,用于器械夹持器92围绕第二接头轴线108相对于第二平行四边形连杆86转动。 In contrast, the second parallelogram joint 88 to the instrument holder 92 is rotatably coupled to the second parallelogram linkage 86, 92 to instrument holder 108 relative to the second parallelogram linkage 86 is rotated about the second joint axis .
[0067] 远程中心操纵器120进一步包括锥形摆动机构122。 [0067] The remote center manipulator 120 further includes a tapered pivot mechanism 122. 锥形摆动机构122包括锥形摆动接头124和通过锥形摆动接头124被可转动地联接到基座连杆74的锥形摆动连杆126。 Oscillating mechanism 122 includes a tapered conical pivot joint 124 and the swivel connector 124 through a tapered rotatably coupled to the link 74 of the conical base swing link 126. 锥形摆动接头124可操作围绕与远程操纵中心(RC)交叉的锥形摆动轴线128选择性转动锥形摆动连杆126。 Tapered pivot joint 124 and is operable remotely operated around the center (RC) intersecting the pivot axis 128 selectively tapered conical swing link 126 is rotated. 锥形摆动连杆126的远端支撑偏转接头76。 The tapered distal end 126 of the swing link 76 supporting the deflection fitting. 锥形摆动连杆126经配置定位和定向偏转接头76,使得针对锥形摆动连杆126围绕锥形摆动轴线128的所有取向，偏转轴线98 与远程操纵中心(RC)交叉。 Tapered swing link 126 is configured deflectable connector 76 positioned and oriented such that the swing link 126 against the conical pivot axis 128 all orientations around the conical pivot axis 98 intersecting with the remote center manipulator (RC). 锥形摆动机构122可操作相对于安装基座72重新定向远程中心操纵器120的外侧连杆机构，同时保持远程操纵中心(RC)相对于安装基座72的位置。 Tapered oscillating mechanism 122 relative to the mounting base 72 is operable to redirect the remote center manipulator outer link mechanism 120, while maintaining the remotely operated Center (RC) relative to the mounting position of the base 72. 锥形摆动接头124的转动促使手术器械94的轴沿中心在锥形摆动轴线128上并且在远程操纵中心(RC)处具有顶点的圆锥的表面摆动。 Conical rotation pivot joint 124 causes the surgical instrument 94 along the central axis of the conical pivot axis 128 and (RC) having a conical surface at the vertex of the swing center of the manipulation remote. 锥形摆动机构122可以以任何合适的方式使用，例如被用于在手术过程之前定位/定向远程中心操纵器120的外侧部分且/或在手术过程期间用于主动地定位/定向远程中心操纵器120的外侧部分的设定接头。 Tapered oscillating mechanism 122 may be used in any suitable manner, for example prior to a surgical procedure for positioning / orientation of the remote center manipulator outer portion 120 and / or for actively positioning / orientation remote center manipulator during a surgical procedure setting portion 120 of the outer joint. 锥形摆动轴线128提供冗余自由度轴线，器械夹持器92可以围绕所述冗余自由度轴线在远程操纵中心(RC)附近转动。 Conical pivot axis 128 to provide redundant degree of freedom axis, the instrument holder 92 can be rotated about the axis redundant degree of freedom in the vicinity of the remote center manipulator (RC). 锥形摆动轴线128不与偏转轴线92、俯仰轴线102或插入轴线96中的任一个对齐。 Conical pivot axis 128 is not 92, 96 or any one insertion axis 102 in the pitch axis and a yaw axis is aligned. 锥形摆动轴线128可以距偏转轴线98偏移任何合适角度(例如，在一个实施例中是15度）。 Conical pivot axis 128 from the yaw axis 98 can be any suitable offset angle (e.g., in one embodiment, is 15 degrees). 再次参照图6,锥形摆动机构122是可选的，并且可以如本文所述被包括在各个操纵器实施例中或不被包括在各个操纵器实施例中。 Referring again to FIG. 6, the tapered oscillating mechanism 122 is optional, as described herein, and may be included in various embodiments or the manipulator is not included in the various embodiments of the manipulator. 出于本说明书的目的，锥形摆动机构122可以被认为是与更远离处在操纵器中的其他锥形摆动机构区分的近侧锥形摆动机构(例如，参见图8,其示出另一个“远侧”锥形摆动机构）。 For purposes of this specification, a tapered oscillating mechanism 122 it may be considered to be further away from the other at the tapered proximal tapered oscillating mechanism oscillating mechanism distinguished manipulators (e.g., see FIG. 8, which shows another "distal" tapered swing mechanism).
[0068] 与锥形摆动机构122关联的接头可以被驱动或不被驱动，并且如果被驱动，则该接头可以作为在外科医生的主动控制下的远程操作功能的一部分或被手术室中的另一个人被动控制。 [0068] The oscillating mechanism associated with the tapered joint 122 may be driven or not driven, and, if driven, the joint may be used as part of the operating room or in the remote operation of the active control in another surgeon a person passive control. 如果非外科医生的人被动控制，锥形摆动机构可以作为设定结构的一部分以在手术过程之前和/或手术过程期间针对手术正确地定位远程中心操纵器。 If a non-surgeon who passive control, the tapered portion of the swing mechanism may be used as and / or during the surgical procedure correctly positioned for surgery procedure before setting the remote center manipulator structure. 在一些实施例中， 开关(按钮，摇杆等)控制锥形摆动机构122的运动，将操纵器的更远侧部分移动到期望的位置。 In some embodiments, a switch (button, joystick, etc.) to control movement of the swing mechanism 122 of the cone, the more distal portion of the manipulator movement to a desired position. 并且，锥形摆动机构122可转动满360度或更大，或其转动可以被限制小于360度。 And, the swing mechanism 122 is rotatably tapered full 360 degrees or more, or the rotation can be limited to less than 360 degrees. 例如， 在一个实施例中，转动被限制在大约180度、在直线上升（12点)位置到直线下降(6点）位置之间的范围内。 For example, in one embodiment, the rotation is limited to about 180 degrees, the rise in the linear (12 o'clock) position to plummet (6:00) in a range between the positions. 如果两个或更多个类似配置的远程中心操纵器被定位彼此相邻，那么每个锥形摆动机构122可以被限制转动相同弧度，以帮助消除碰撞/冲突。 If two or more similarly configured remote center manipulator is positioned adjacent to each other, then each tapered oscillating rotation restricting mechanism 122 can be the same arc, to help eliminate collision / conflict. 例如，每个锥形摆动机构122可以被限制转动到在从12点通过3点到6点的圆弧上的任何位置。 For example, each tapered oscillating mechanism 122 may be rotated to any position limit on an arc of 3:00 to 6:00 through from 12:00. 在其他实施例中，锥形摆动机构122被设置有重心平衡补偿特征(例如，通过使用电流根据机械负载位置控制马达转矩，通过使用弹簧以平衡机械负载等），这使得在机械载荷有效失重或低重量时手容易定位。 In other embodiments, the tapered oscillating mechanism 122 is provided with a balanced center of gravity compensation characteristic (e.g., controls the motor torque in accordance with a mechanical load by using a current position, by using a spring to balance the mechanical load, etc.), which makes effective mechanical load weight loss by weight or lower hand easily located. 在重心平衡补偿实施例中，制动器通常将操纵器保持就位直到一个人将该操纵器移动到期望位置的时间被释放，并接着在新位置处重新施加制动以保持该操纵器。 In the center of gravity balance compensation embodiments, the brake actuator is typically held in place until a person moves the actuator to the desired time position is released and then re-applying the brakes at the new position to hold the manipulator.
[0069] 除了用于设定操作以外，锥形摆动机构122还可以被连接到手术器械94的外科医生的主动远程操作控件。 [0069] In addition to the set operation except that the tapered oscillating mechanism 122 may also be connected to the surgical instrument 94 of the surgeon's active remote control operation. 因此，锥形摆动机构的运动可以作为外科医生的控制输入的结果或作为例如避免与附近物体例如第二操纵器、患者或其他手术室设备碰撞的结果自动发生。 Thus, the tapered oscillating motion as a result of the control mechanism may input or as a surgeon, for example, to avoid a nearby object, for example, result of the second manipulator, patient or other operating room equipment a collision occurs automatically.
[0070] 本文公开的远程中心操纵器的各个方面可以以任何合适方式被组合。 [0070] Various aspects of the remote center manipulator disclosed herein may be combined in any suitable manner. 例如，图8是根据许多实施例的远程中心操纵器130的透视示意图，所述远程中心操纵器包括图6的远程中心操纵器70和图7的远程中心操纵器120两者的方面。 For example, FIG. 8 is a schematic perspective view of the remote center 130 in accordance with many embodiments of the manipulator, the remote center manipulator 120 includes aspects of both FIG. 6 remote center manipulator 70 and 7 remote center manipulator. 具体地，远程中心操纵器130包括锥形摆动机构122、锥形摆动机构90和平行四边形连杆机构部分100。 Specifically, the remote center manipulator 130 includes a tapered swing mechanism 122, the swing mechanism 90 and the tapered parallelogram linkage mechanism portion 100. 因此，远程中心操纵器130具有两个冗余自由度轴线，具体地，包括锥形摆动轴线114和锥形摆动轴线128,器械夹持器92可以围绕所述两个冗余自由度轴线在远程操纵中心(RC)附近转动。 Thus, the remote center manipulator 130 has two degrees of freedom redundant axis, in particular, the pivot axis 114 and includes a tapered conical pivot axis 128, the instrument holder 92 may surround the two degrees of freedom redundant axis remote actuating Center (RC) near the rotation. 锥形摆动轴线114与锥形摆动轴线128中的每个不与偏转轴线98、俯仰轴线102或插入轴线96中的任一个对齐。 Pivot axis 114 and the tapered conical pivot axis 128 is not 98, or either the insertion axis 96 in a pitch axis 102 is aligned with the axis of each deflection.
[0071] 由于在图6-图8中示出的远程中心操纵器实施例包括偏转轴线以及一个或更多个锥形摆动机构，其中每个锥形摆动机构与锥形摆动轴线关联，并且这些转动的轴线均与远程操纵中心对齐，由此产生的冗余自由度允许器械轴在空间（即，在与基座72关联的地面参考系中）中保持静止，如同远程中心操纵器被放置在各个不同构造中一样。 [0071] Since the embodiment in Figures 6-8 illustrated embodiment of the remote center manipulator comprises a yaw axis and one or more tapering oscillating mechanism, wherein each of the tapered conical oscillating mechanism associated pivot axis, and these are aligned with the axis of rotation of the manipulation remote center, thereby generating the redundant degrees of freedom to allow the instrument axis in space (i.e., the ground reference frame associated with the base 72) is held stationary as the remote center manipulator is placed various configurations the same. 进一步地，通过如上所述的器械端部执行器滚动，如果端部执行器取向不与插入轴线96对齐，那么该端部执行器取向也可以在空间中保持静止，如同远程中心操纵器被放置在各个不同构造中一样。 Further, by the instrument end effector as described above, rolling, if the end effector orientation is not aligned with the insertion axis 96, then the orientation of the end effector can be held stationary in space, as if the remote center manipulator is placed as in various configurations. 这类远程中心操纵器维护硬件受限机器人手术操纵器的患者安全利益，其中硬件构造防止远程操纵中心相对患者移动，并且这类操纵器添加允许在不同位置的各个器械的不同构造的益处，避免与毗邻操纵器、患者、其他设备和手术人员碰撞的有用特征，从而在操纵器与患者之间提供增加的空隙，并且提供增加的对器械进入患者的手术区的访问。 Such remote center manipulator maintains the limited hardware security interests robotic surgical manipulator of the patient, wherein the hardware configuration prevents movement of the remote center manipulator relative to the patient, and such added benefit of allowing the manipulator at different locations of the respective devices of different configurations, to avoid with the adjacent actuator, the patient, surgical staff, and other devices useful feature of a collision, thereby providing increased clearance between the actuator and the patient, and provide increased access to a surgical instrument into a patient area.
[0072] 但是应当很容易地认识到，如果平行四边形连杆机构部分100安置不与轴线98垂直的插入轴线96,那么随着接头76转动，器械94也沿中心在远程操纵中心处具有顶点的轴线96上的圆锥的表面，以在如锥形摆动机构以如上所述转动时类似于器械94运动的方式摆动。 [0072] it should be readily appreciated that if the parallelogram linkage portion 100 is not disposed, the axis of rotation 98 perpendicular to the insertion axis 96 with the connector 76, the device 94 also has an apex at the remote center manipulator along the central on the axis of the conical surfaces 96, 94 in a manner similar to the movement of the instrument during rotation of the swing mechanism, such as a tapered pivot as described above. 因此，这些特征提供所谓任意的冗余“偏转类型”自由度，这是因为转动的轴线与远程操纵中心交叉。 Therefore, these features provide any redundancy called "yaw types" degrees of freedom, since the rotation axis intersects a center of the manipulation remote. 但是，根据本发明的方面的硬件受限远程中心操纵器并不局限于偏转类型冗余自由度。 However, according to aspects of the present invention is limited by hardware is not limited to the remote center manipulator type deflection redundant degree of freedom.
[0073] 图9是根据许多实施例的远程中心操纵器140的透视示意图。 [0073] FIG. 9 is a perspective schematic view of the remote center 140 of the manipulator in accordance with many embodiments. 远程中心操纵器140 包括一些与图6的远程中心操纵器70相同的部件。 Remote center manipulator member 140 comprises the same number of the remote center manipulator 70 in FIG. 6. 共享部件包括安装基座72、基座连杆74、 偏转接头76、延伸连杆78、基座平行四边形接头80、第一平行四边形连杆82、第一平行四边形接头84、第二平行四边形连杆、第二平行四边形接头88和器械夹持器92。 Sharing means comprises a mounting base 72, the base link 74, a deflection fitting 76, the link 78 extends, the base parallelogram joint 80, a first parallelogram linkage 82, a first parallelogram joint 84, the second parallelogram is connected rod connector 88 and second parallelogram instrument holder 92. 如图所示的远程中心操纵器140不包括锥形摆动机构90。 Remote center manipulator 140 shown in FIG. 90 does not include a tapered swing mechanism. 相反，第二平行四边形接头88将器械夹持器92可转动地联接到第二平行四边形连杆86,用于器械夹持器92围绕第二接头轴线108相对于第二平行四边形连杆86转动。 In contrast, the second parallelogram joint 88 to the instrument holder 92 is rotatably coupled to the second parallelogram linkage 86, 92 to instrument holder 108 relative to the second parallelogram linkage 86 is rotated about the second joint axis . 远程中心操纵器140进一步包括重新定向机构142,其可操作将远程中心操纵器140的外侧部分围绕与远程操纵中心(RC)交叉的轴线144重新定向。 Remote center manipulator 140 further comprises a redirecting mechanism 142, the outer portion operative remote center manipulator 140 about the axis 144 to redirect the remote center manipulator (RC) intersect. 重新定向机构142包括基座146和与基座146联接并可沿相对于远程操纵中心(RC)具有恒定半径的弯曲路径相对于基座146重新定向的可移动连杆148,从而将器械夹持器92的相应运动限制成围绕远程操纵中心(RC)转动。 Redirecting mechanism 142 includes a base 146 and base 146 may be coupled with respect to the remotely operated along the center (RC) having a constant radius curved path relative to the base 146 redirecting movable link 148, thereby clamping the instrument 92 corresponding movement constrained to rotate about a remote center manipulator (RC). 在所示出的实施例中，轴线144与俯仰轴线102重合。 In the illustrated embodiment, the axis 144 coincides with the pitch axis 102. 因此，如图所示，平行四边形连杆机构部分和重新定向机构142中的每个在远程操纵中心(RC)处单独在重合轴线1〇2、144附近转动器械94,以提供冗余自由度。 Thus, as shown in FIG parallelogram link mechanism portion redirect mechanism 142 and each of (RC) at the center of the remote manipulation device 94 separately in vicinity of the axis coincides with the rotation 1〇2,144, to provide a redundant degree of freedom . 并且，远程中心操纵器140的硬件设计物理上限制器械94在远程操纵中心(RC)处转动。 Further, the remote center manipulator 94 to limit rotation of instrument manipulation at the remote center (RC) of 140 physical hardware design. 技术人员应当理解，其他机械结构可以被用于提供为重新定向机构122示意性示出和描述的功能。 The art will appreciate, other mechanical structure may be used to provide redirection mechanism 122 is schematically shown and described functions. 进一步地，具有与重新定向机构142类似功能的一个或更多个附加重新定向机构可以被插入到在基座72与器械夹持器92之间的链接中，以便远程中心操纵器140具有附加的冗余自由度。 Further, 142 having similar functions to a redirection mechanism to redirect or more additional means may be inserted into the link 92 between the base 72 and the instrument holder so that the remote center manipulator 140 has an additional redundant degrees of freedom.
[0074] 重新定向机构142还可以经配置成使得轴线144不与俯仰轴线102对齐(不重合）。 [0074] redirect mechanism 142 may also be configured such that the axis 144 is not aligned with the pitch axis 102 (not overlapped). 例如，重新定向机构142可以经配置成使得轴线144与插入轴线96对齐，并可以经配置成使得轴线144相对于俯仰轴线102和/或插入轴线96处于任何合适的角度。 For example, redirect mechanism 142 may be configured such that the axis 144 is aligned with the insertion axis 96, and may be configured so that the axis 144 with respect to the pitch axis 102 and / or the insertion axis 96 in any suitable angle.
[0075] 与重新定向机构142关联的接头可以被驱动或不被驱动，并且如果被驱动，其可以在外科医生的主动控制下或被手术室人员被动控制。 [0075] associated with redirecting joint mechanism 142 may be driven or not driven, and, if driven, operating room personnel or it may be a passive control under the active control of the surgeon. 如果在被动控制下，重新定向机构142 可以在手术过程之前被用作设定接头，以针对手术正确地定位远程中心操纵器140,且/或在手术过程期间其可以被用于主动重新定向外侧连杆机构，同时保持相对于安装基座72的远程操纵中心(RC)的位置并从而相对于患者以及器械94进入患者的切口的位置。 If the passive control, redirect mechanism 142 may be used as the joint set before the procedure, for the operation to correct positioning the remote center manipulator 140, and / or which may be used during the surgical procedure outside the active redirection a link mechanism, while maintaining the relative position of the mounting position of the remote center manipulator (RC) of the base 72 and thus relative to the patient and the instrument 94 into the patient's incision. 在一些被动控制实施例中，开关(例如，开/关按钮，弹簧摇杆等)控制重新定向机构142移动，以便人员操作控件将远程中心操纵器移动到期望位置。 In some embodiments, the passive control, the switch (e.g., on / off button, rocker springs, etc.) re-controlling directional movement mechanism 142, so that the control operates the remote center manipulator is moved to a desired position. 在其他被动控制实施例中，重新定向机构被配备有重心平衡补偿特征(例如，根据机械负载位置控制马达电流的补偿），以便感觉操纵器有效失重并且该操纵器容易被手移动。 In other embodiments, the passive control, redirection mechanism is provided with a center of gravity balance compensation characteristics (e.g., motor current control compensation according to the mechanical load position), so that the feeling of the manipulator and the manipulator effective weight loss easily move the hand. 例如，制动器可以将重新定向机构142保持就位直到人员可以容易重定位重新定向机构的点时被释放，并接着再施加制动器将该操纵器保持就位。 For example, the brake mechanism 142 can redirect the art can readily held in place until the relocation is released when the point mechanism redirected, then the brake is applied and then the actuator is held in place.
[0076] 图10是根据许多实施例的远程中心操纵器150的透视示意图。 [0076] FIG. 10 is a schematic perspective view of the remote center 150 of the manipulator in accordance with many embodiments. 远程中心操纵器150 包括图8的远程中心操纵器130和图9的远程中心操纵器140二者的方面。 Remote center manipulator 150 includes aspects of both FIG. 8 remote center manipulator and a remote center 130 of the manipulator 140 of FIG. 9. 具体地，远程中心操纵器150包括重新定向机构142、锥形摆动机构122 (其任选地，可以不包括）、锥形摆动机构90 (其任选地，可以不包括)和平行四边形连杆机构部分100。 Specifically, the remote center manipulator 150 comprises 142, tapered oscillating mechanism 122 (which optionally can be excluded), a conical swinging mechanism 90 (which optionally can be excluded) and a parallelogram linkage mechanism parallel reorientation mechanism section 100. 因此，远程中心操纵器150具有三个冗余自由度(如果所述锥形摆动机构中的一个被去除，则会更少;如果附加的锥形摆动机构或重新定向机构被添加，则会更多），并且这些自由度来自围绕轴线144(通过重新定向机构142驱动的）、锥形摆动轴线114 (通过锥形摆动机构90驱动的）和锥形摆动轴线128 (通过锥形摆动机构122驱动的)转动的能力。 Thus, the remote center manipulator 150 has three redundant degrees of freedom (if one of said conical swinging mechanism is removed, will be less; if the additional taper oscillating mechanism or redirection mechanism is added, it will be more multi), and from these degrees of freedom about the axis 144 (by redirecting the drive mechanism 142), the conical pivot axis 114 (pivot axis 128 (driven by the oscillating mechanism 122 by driving the tapered conical pivot mechanism 90) and a conical a) ability to rotate. 在轴线144不与远程中心操纵器150中的俯仰轴线102重合时，轴线144可以在替代实施例中与俯仰轴线102重合。 The axis 144 does not coincide with the pitch axis 102 of the remote center manipulator 150, the axis 144 may coincide in alternative embodiments with the pitch axis 102 embodiment.
[0077] 重新定向机构142和锥形摆动机构122中的每一个可以在手术过程之前被用作设定接头且/或在手术过程期间被用于主动重新定向外侧连杆机构，同时物理上限制远程操纵中心(RC)相对于安装基座72的位置，并因此保持远程操纵中心(RC)相对于患者的位置。 [0077] redirect mechanism 142 may be set and each of the swing mechanism 122 is tapered as before the surgical procedure and linker / or redirected by the active mechanism for the outer link during a surgical procedure, while the physical limitations remote manipulation Center (RC) relative to the mounting base 72, and thus holding the manipulation remote center (RC) relative to the patient. 作为设定结构的一部分的重新定向机构142的使用如上被描述，并且锥形摆动机构122可以同样被使用。 142 as above is described as part of the redirection mechanism set configuration, and the tapered oscillating mechanism 122 can also be used.
[0078] 需要指出，远程中心操纵器的各个实施例中的每个实施例某种程度上是窄的，以便这些操纵器中的两个或更多个可以在手术机器人上彼此相邻定位，并且毗邻操纵器之间的空间可以被减少，以允许每个操纵器控制靠近另一个器械的器械，用于有效的手术器械安置。 [0078] It is noted that various embodiments of the remote center manipulator in each embodiment is somewhat narrow, so that two or more manipulators can be positioned adjacent to each other on a surgical robot, and the space between adjacent actuator can be reduced, to allow each manipulator near the other instrument devices, for efficient placement of the surgical instrument.
[0079] 图11示出根据许多实施例的硬件受限远程中心操纵器160。 [0079] FIG. 11 illustrates a remote center manipulator 160 in accordance with many embodiments of hardware is limited. 操纵器160包括基座连杆162、锥形摆动连杆164、平行四边形基座连杆166、平行四边形第一连杆168、平行四边形第二连杆170、经配置支持可拆卸手术器械(未示出；器械轴经过被示出联接在器械夹持器172远端处的插管173)的器械夹持器172和锥形摆动接头174。 Link manipulator 160 includes a base 162, a tapered swing link 164, a parallelogram linkage base 166, a first parallelogram linkage 168, the second parallelogram link 170, configured to detachably support the surgical instrument (not shown; instrument shaft via a coupling device is shown in the holder at the distal end of the cannula 173 172 instrument holder) 172 and a tapered swivel connector 174. 在许多实施例中，基座连杆162相对于经由远程中心操纵器160在正被手术的患者被保持在固定位置。 In many embodiments, the base link 162 with respect to the patient in a fixed position via a remote center manipulator 160 being in operation. 锥形摆动连杆164具有被安装在基座连杆162的锥形摆动连杆远端176,用于锥形摆动连杆164围绕第一轴线178相对于基座连杆162转动，第一轴线178与远程运动中心(RC)交叉，远程运动中心(RC) 由沿器械轴经过的插管的中心线限定。 Swing link 164 has a tapered conical base is attached to link 162 of the distal end of the swing link 176, a cone 164 relative to the base swing link 162 link 178 to rotate about a first axis, the first axis 178 remote center of motion (RC) intersect the centerline remote center of motion (RC) pass by along the instrument shaft defining a cannula. 锥形摆动连杆164具有从第一轴线178偏移的锥形摆动连杆远端180，以及将锥形摆动连杆近端176连接到锥形摆动连杆远端180的锥形摆动连杆体区段182。 Swing link 164 having a conical tapered from a first link pivot axis 178 offset distal end 180, a proximal end and a tapered pivot rod 176 is connected to the tapered distal end of the swing links swing link 180 is tapered body section 182.
[0080] 锥形摆动连杆164的操纵器160外侧(远侧）的连杆机构经配置提供器械夹持器172 的选择性移动，其被限制成器械夹持器172围绕远程中心(RC)的二维转动(手术器械未示出）。 [0080] The tapered swing link 160 of the manipulator 164 the outer (distal) via a link mechanism configured to provide selective movement of instrument holder 172, which is limited to the instrument holder 172 about a remote center (RC) dimensional rotation (surgical instrument not shown). 至于器械夹持器172围绕远程中心(RC)转动的第一方向，该第一方向在本文被称为偏转，平行四边形基座连杆166具有被安装在锥形摆动连杆远端180的近端184,其用于围绕也与远程中心(RC)交叉的第二轴线186相对于锥形摆动连杆远端转动。 As a first direction about the instrument holder 172 remote center (RC) is rotated, the first direction is referred to herein as deflected, the parallelogram linkage 166 having a base 180 is mounted near the distal end of the tapered swing link end 184, which is also for surrounding crossing the remote center (RC) of the second axis 186 with respect to the tapered distal end of the swing link rotates. 通过相对于锥形摆动连杆远端180选择性转动平行四边形基座连杆166,平行四边形基座连杆166的操纵器160外侧的连杆机构也围绕第二轴线186选择性地转动，从而围绕第二轴线186选择性地转动器械夹持器172。 By tapered relative to the distal end of the swing link 180 is selectively rotated parallelogram linkage base 166, the base parallelogram linkage link 160 outside of the second actuator 166 is also selectively rotatable about an axis 186, such that second axis 186 to selectively rotate the holder 172 around the instrument.
[0081] 至于器械夹持器172围绕远程中心(RC)转动的第二方向，该第二方向在本文也被称为俯仰，器械夹持器172和平行四边形第一和第二连杆168、170被联接，以便形成提供器械夹持器172的移动的平行四边形连杆机构，所述器械夹持器172被限制成围绕远程中心(RC)在轴线附近转动，所述轴线大致垂直于第二轴线186并且垂直于平行四边形连杆机构的运动平面。 [0081] As a second rotational direction about a remote center (RC) of the instrument holder 172, the second direction is also referred to herein as the pitch, instrument holder 172 and the first and second parallelogram link 168, 170 is coupled to instrument holder shaped to provide movement of the parallelogram linkage 172, the instrument holder 172 is limited to about a remote center (RC) is rotated around an axis that is substantially perpendicular to the second axis 186 and perpendicular to the movement of the parallelogram linkage plane. 平行四边形第一连杆168具有经由第一平行四边形接头192与平行四边形基座连杆166的远端190可转动地联接的近端188。 A first parallelogram link 168 has a proximal end 192 and distal joint 166 of the parallelogram linkage base 190 rotatably coupled via a first parallelogram 188. 平行四边形第二连杆170具有经由第二平行四边形接头198与平行四边形第一连杆168的远端196可转动地联接的近端194。 The second parallelogram linkage 170 having a connector 198 via a second parallelogram parallelogram proximal distal end 196 of first link 168 is rotatably coupled to 194. 器械夹持器172经由第三平行四边形接头202与平行四边形第二连杆170的远端200联接。 Instrument holder 172 of the third parallelogram joint parallelogram of the second link 202 and the distal end 170 is coupled via 200. 第二和第三平行四边形接头198、202被第一平行四边形接头192的转动可转动地驱动，以便第一平行四边形连杆168、第二平行四边形连杆170和器械夹持器172形成平行四边形连杆机构。 The second and third parallelogram joint 198, 202 is rotated in a first parallelogram joint 192 rotatably driven, so that the first parallelogram linkage 168, 170 and a second parallelogram linkage instrument holder 172 form a parallelogram Linkage. 在所示位置中，第一平行四边形连杆168限定在第一与第二平行四边形接头192、198之间延伸的第一平行四边形边204,第二平行四边形连杆170限定在第二与第三平行四边形接头198、202之间延伸的第二平行四边形边206;以及器械夹持器172限定在第三平行四边形接头202与远程中心(RC)之间延伸的第三平行四边形边208。 In the position shown, the first parallelogram link 168 is defined in a first parallelogram extending between the first and the second parallelogram 192,198 joint edge 204, a second parallelogram link 170 is defined in the first and second the second parallelogram 198, 202 extending between the three sides of the parallelogram joint 206; and instrument holder 172 define a third parallelogram extending in a third parallelogram joint 202 and a remote center (RC) between the edge 208. 为了说明平行四边形连杆机构的运动，转动的第一平行四边形边204R被示出表示第一平行四边形连杆168相对于平行四边形基座连杆166的相应转动位置，以及重新定位的第二和第三平行四边形边206R、208R被示出分别表示对应于第一平行四边形连杆168的转动位置的第二平行四边形连杆170和器械夹持器172的位置。 To illustrate the movement of the parallelogram linkage mechanism, a first rotation of the parallelogram sides 204R is shown representing a first parallelogram linkage 168 with respect to the respective rotational position of the base parallelogram linkage 166, and a second repositioning and the third parallelogram edge 206R, 208R are shown, respectively corresponding to the second rotational position of the parallelogram linkage 168 of the first parallelogram linkage positions 170 and 172 of the instrument holder. 如图所示，第一平行四边形连杆168相对于平行四边形基座连杆166的转动用于移动器械夹持器172,以便第三平行四边形边208的远端保持与远程操纵中心（RC)重合，从而使器械夹持器172围绕大致垂直于第二轴线186的轴线俯仰。 As shown, a first parallelogram linkage 168 with respect to the parallelogram linkage base for rotation of the mobile device 166 of the holder 172, so that the third parallelogram edge of the distal end 208 of the remote manipulator holding center (RC) overlap, so that the instrument holder 172 about an axis substantially perpendicular to the second axis 186 of the pitch.
[0082] 当操纵手术器械的轴沿第二轴线186 (偏转轴线）在一条直线上时，锥形摆动连杆164的操纵器160外侧的连杆机构具有固有的奇异性。 [0082] When the link mechanism 160 outside the manipulator manipulating the surgical instrument shaft 186 along a second axis (yaw axis) is in a straight line, the swing link 164 having a conical singularity inherent. 即使当手术器械轴不沿第二轴线186 在一条直线上时，当手术器械轴与第二轴线186之间的角度小(例如，15度或更小）时，运动学调节是很差的。 Even when no surgical instrument shaft 186 along a second axis on a straight line, when the angle between the axis and the second axis of the surgical instrument 186 is small (e.g., 15 degrees or less), the adjusting kinematics is poor. 将平行四边形连杆机构延伸到手术器械轴与第二轴线86对齐所需程度的另一个实践限制是由此产生的操纵器160的长度对在手术室环境中的使用可能是不良的长度。 The parallelogram linkage extending to the surgical instrument shaft axis 86 aligned with the second desired degree of other practical limitations resulting length of the manipulator 160 used in an operating room environment may be undesirable length.
[0083] 为了解决前述问题，平行四边形连杆机构的运动可以被限制，例如使得手术器械轴相对于第二轴线186的角度被限制至少等于合适的角度(例如，大约15度）。 [0083] In order to solve the aforementioned problems, the movement of the parallelogram linkage may be limited, for example, such that the surgical instrument with respect to the axis angle of the second axis 186 is restricted at least equal to the suitable angle (e.g., about 15 degrees). 不过，在这类角度限制的情况下，对于第二轴线186的任何特定位置和取向，还存在手术器械尖端不能到达的锥形体积。 However, in the case where the angle of such limitation, for any particular position and orientation of the second axis 186, there is a conical volume can not reach the tip of the surgical instrument. 因此，锥形摆动机构122提供重新定位且重新定向第二轴线186的方式，以便将不可接近的锥形体积置于患者上的外科医生不感兴趣作业的地方。 Thus, the swing mechanism 122 is tapered to provide repositioning and reorienting the axis 186 of the second embodiment, so that the inaccessible cone placed where the volume of a surgeon on a patient is not interested in the job. 锥形摆动机构122还可以作为器械夹持器172在第二轴线186附近替代被用于在第一轴线178附近转动器械夹持器172。 Tapered oscillating mechanism 122 may also be used to turn the instrument holder 172 in the vicinity of the first axis 178 as the instrument holder 172 in the vicinity of the second axis 186 instead.
[0084] 冗余轴线和硬件受限远程中心操纵器上的关联冗余自由度允许操纵器使用不止一个接头角度的可能组合中的一个组合在独特位置定位手术器械。 [0084] axis of redundant hardware and restricted association redundant degree of freedom on the remote center manipulator allows the actuator to use a combination of more than one possible combination of joint angle of the surgical instrument is positioned at a unique location. 因此，冗余轴线(提供冗余自由度的接头的轴线）可以被用于避免与毗邻操纵器、患者解剖结构或设备（例如手术台）的碰撞。 Thus, the redundancy axis (axis of the joint to provide redundancy degree of freedom) may be used to avoid adjacent manipulator, collisions patient anatomy or apparatus (e.g. operating tables) in. 当冗余轴线被机械地限制经过远程操纵中心(RC)时，该冗余轴线可以在手术过程期间被重新定向，而没有相对于患者移动远程操纵中心(RC)的风险。 When the redundancy axis is restricted remotely operated through the center (RC) mechanically, the redundant axis may be reoriented during the surgical procedure, without the risk of movement of the patient relative to the remotely operated Center (RC) of.
[0085] 锥形摆动接头174将第二平行四边形连杆170的远端200联接到器械夹持器172。 [0085] The pivot joint 174 of the second tapered parallelogram linkage of the distal end 200 is coupled to the instrument holder 170 172. 锥形摆动接头174可操作选择性改变器械夹持器172围绕与远程中心(RC)交叉的第三轴线210 相对于第二平行四边形连杆170的取向。 The tapered joint 174 is operable to selectively change the swing holder 172 around the instrument axis 210 and the third remote center (RC) intersecting parallelogram orientation relative to the second link 170. 改变器械夹持器172相对于第二平行四边形连杆170的取向的能力可以被用于避免器械夹持器172与毗邻操纵器之间的干扰，避免器械夹持器172与患者之间的干扰，并且增加器械夹持器172的运动范围。 Ability to change the instrument holder 172 with respect to the orientation of the second parallelogram link 170 may be used to avoid interference between the instrument holder 172 and the adjacent actuator, to avoid interference between the patient and the instrument holder 172 and increases the range of motion of the instrument holder 172. 在所示出的实施例中，第三轴线210与第三平行四边形边208重合，从而确保第三平行四边形边208响应于器械夹持器172围绕第三轴线210的转动而不改变长度。 In the illustrated embodiment, the third axis 210 of the third parallelogram edges 208 overlap to ensure that the third parallelogram edge instrument holder 208 in response to rotation of the third axis 172 without changing the length of about 210.
[0086] 图12进一步示出锥形摆动接头174。 [0086] FIG. 12 further illustrates a tapered joint 174 swings. 如图所示，第三轴线210不与由器械夹持器172 支撑的手术器械(未示出）的中心线228对齐，手术器械沿着第三轴线被插入和撤回，并且手术器械轴在第三轴线附近滚动。 As shown, the third axis 210 is not (not shown) aligned with the centerline 228 is supported by the instrument holder 172 of the surgical instrument, the surgical instrument is inserted and withdrawn along the third axis, and the axis of the surgical instrument scroll near a three-axis. 第三轴线210与中心线228之间的角偏移允许锥形摆动接头174的转动相对于远程中心(RC)重新定向手术器械，从而允许手术器械达到患者体内的不同区域。 Angular offset between the axis 210 and the centerline of the third taper 228 allows the swivel connector 174 rotate with respect to reorient surgical instrument remote center (RC), thereby allowing different regions of the surgical instrument reaches the patient. 并且如上所述，与平行四边形机构的俯仰运动功能组合，锥形摆动接头174的转动可以保持手术器械相对于运动的远程中心（RC)的位置和取向，允许重新定位器械夹持器172以避免与毗邻器械夹持器/手术器械干扰。 And as described above, the function in combination with the parallelogram pitch motion, swinging the tapered joint 174 may be maintained relative position and orientation of the surgical instrument to the remote center of motion (RC), allowing repositioning of the instrument holder 172 to avoid and adjacent the instrument holder / surgical instrument interference.
[0087] 图13A、图13B和图13C示出锥形摆动接头174提供的运动范围。 [0087] FIGS. 13A, 13B and 13C show the range of motion of the swivel connector 174 provides a cone. 在图13A中，锥形摆动接头174处于居中配置中，其中器械夹持器172与第二平行四边形连杆170对齐。 In FIG. 13A, the swivel connector 174 is centrally tapered configuration, wherein the instrument holder 172 and a second parallelogram linkage 170 are aligned. 在图13B 中，锥形摆动接头174被示出在一个方向充分转动，从而在所示出的方向上定向器械夹持器172。 In FIG 13B, the tapered swivel connector 174 is shown fully rotated in one direction, to orient the instrument holder 172 in the direction shown. 以及在图13C中，锥形摆动接头174被示出在相反方向上充分转动，从而在所示出的相反方向上定向器械夹持器172。 And in FIG. 13C, the tapered swivel connector 174 is shown fully rotated in the opposite direction, to orient the instrument holder 172 in the opposite direction shown. 如图所示，由锥形摆动接头174提供的器械夹持器172的不同可能取向用作提供由器械夹持器172支撑的手术器械(未示出）的对应不同插入方向。 As shown correspond to different swivel connector 174 provided by a tapered instrument holder 172, as may the orientation provided by the instrument holder supported surgical instrument 172 (not shown) different from the insertion direction. 同样， 锥形摆动接头174提供的冗余自由度允许在每个独特器械位置的操纵器具有一系列接头位置。 Similarly, the tapered redundant degree of freedom is provided to allow the swivel connector 174 has a series of joint positions on each unique instrument actuator position. 虽然未示出，可以看出在图11中示出的近侧锥形摆动接头提供类似功能。 Although not shown, it can be seen in FIG. 11 shows a proximal tapered pivot joints provide similar functionality. 以及此外，两个锥形摆动接头在一起动作可以将偏转接头和平行四边形机构偏移到一侧或另一侧，而器械保持静止。 And in addition, with two tapered swivel connector fitting operation can be deflected and offset parallelogram mechanism to one side or another, while the device remains stationary. 如上所述，随着操纵器移动，相对于器械主体滚动端部执行器(例如，在轴上滚动端部执行器，或利用附接的端部执行器滚动整个轴)允许端部执行器在空间中保持静止。 As described above, as the manipulator is moved relative to the instrument body rolling end effector (e.g., rolling on the shaft end, or with an attached end effector scroll through the shaft) allows the end effector remain stationary in space. 因此，在远程手术期间，操纵器充分利用冗余自由度的优点的运动对外科医生来说是透明的，外科医生不会感觉到任何相应手术端部执行器的移动。 Thus, during a telesurgery, the manipulator full advantage of redundant degree of freedom of movement is transparent to the surgeon, the surgeon will not feel any corresponding movement of the surgical end effector.
[0088] 图14A示出可转动地联接一些实施例的操纵器160的第二平行四边形接头198和第三平行四边形接头202的第一正弦/余弦连杆228和第二正弦/余弦连杆230。 [0088] FIG. 14A shows a number of rotatably coupled to a second embodiment of the manipulator parallelogram parallelogram joint 198 and third joint 160 first sine / cosine links 228 and 202 of the second sine / cosine link 230 . 第一和第二正弦/余弦连杆228、230之所以如此命名，是为了反映连杆228、230被联接到平行四边形接头198、202的方式。 The first and second sine / cosine link 228, 230 is so named to reflect the link 228, 230 is coupled to the connector 198, 202 in a parallelogram manner. 如在第二平行四边形接头198处所示，第一和第二正弦/余弦连杆228、230 与第二平行四边形接头198之间的连接偏移90度，第一和第二正弦/余弦连杆228、230与第三平行四边形接头202之间的连接同样配置。 As shown at 198 a second parallelogram joints, the connection between the first and second sinusoidal 198/228, 230 cosine link and the second joint parallelogram offset by 90 degrees, the first and second sine / cosine even 228, 230 connected between the lever 202 and the third joint parallelogram similarly configured. 虽然90度的连接偏移是优选的，也可以使用其他偏移角度。 Although the connector 90 ° offset is preferred, other offset angle may be used. 所述连接偏移确保连杆228、230中的至少一个连杆总是从经过第一和第二平行四边形接头192、198两者的中心线232偏移，以便总是具有在第二和第三平行四边形接头198、202之间传递扭矩所需的偏移。 The connecting rod 228, 230 to ensure that the offset is always at least one link from the centerline 192, 198 through both the first and second shift parallelogram joint 232, so as to always have the first and second required to transmit torque between the offset parallelogram 198, 202 three linker. 通过以相同角度取向和径向距离连接第一和第二正弦/ 余弦连杆228、230中的每一个连杆的每端，第二与第三平行四边形接头198、202之间的传递或转动运动可以以可靠和平滑方式实现。 By connecting the first and second sine / cosine rod 228, 230 in each end of each link, the second and third parallelogram transmission between the connectors 198, 202 or rotate at the same angular orientation and radial distance motion may be implemented in a smooth and reliable manner.
[0089] 在许多实施例中，第一和第二正弦/余弦连杆228、230的长度是可调节的，使联接点与第二和第三平行四边形接头198、202的长度更好匹配。 [0089] In many embodiments, the length of the first and second sine / cosine links 228, 230 are adjustable so that the length of the coupling points 198, 202 of the second and third parallelogram joint better match. 因为连杆机构是运动学受限的， 机械部件的几何偏差(例如长度、角度或作业半径)会在一些或全部部件中产生高力和/或角力的形成。 Because the kinematic link mechanism is restricted, a geometric variation of the mechanical components (such as length, angle or radius job) generate high forces and formation / or struggle in some or all components. 第一正弦/余弦连杆228包括第一连杆近侧部分234和第一连杆远侧部分236， 其在第一连杆接头238处被固定在一起。 The first sine / cosine link proximal portion 228 includes a first link 234 and the first link distal portion 236, which are secured together at a joint of the first link 238. 同样，第二正弦/余弦连杆230包括第二连杆近侧部分240和第二连杆远侧部分242,其在第二连杆接头244处被固定在一起。 Similarly, the second sine / cosine link 230 includes a proximal portion 240 of the second link and the second link distal portion 242, 244 which are secured together at the second joint link. 第一连杆和第二连杆关节238、244经配置成使得第一和第二正弦/余弦连杆228、230中的每一个的长度可以被改变以匹配它们被安装在其上的第二平行四边形连杆170的指定长度。 The first and second links 238,244 joint configured such that the first and second sinusoidal / length of each rod 228, 230 may be changed to the cosine of the second match they are mounted thereon parallelogram linkage 170 specified length. 例如，第一连杆近侧部分234和第一连杆远侧部分236可以首先被分别连接到第二平行四边形接头198和连接到第三平行四边形接头202，并接着经由第一连杆接头238彼此联接，以匹配它们被安装在其中的第二平行四边形连杆170的指定长度。 For example, the first link and the first link portion 234 proximal the distal portion 236 may first be connected to the second parallelogram joint 198 and coupled to the third joint parallelogram 202, and then via a first joint link 238 coupled to each other, which are mounted to match the second parallel length specified therein parallelogram linkage 170.
[0090] 图14B示出可转动地联接操纵器160的第一平行四边形接头192和第二平行四边形接头198的第三正弦/余弦连杆246和第四正弦/余弦连杆248。 [0090] FIG. 14B shows the manipulator is rotatably coupled to a first 192 and a second parallelogram joint parallelogram joint 160 of the third sinusoidal 198 / cosine fourth link 246 and sine / cosine link 248. 第三和第四正弦/余弦连杆246、248类似于第一和第二正弦/余弦连杆228、230被配置并连接到平行四边形关节192、 198,因此其相同描述将不在这里重复。 The third and fourth sine / cosine link 246, 248 similar to the first and second sine / cosine links 228, 230 are configured and connected to the parallelogram joint 192, 198, so the same description will not be repeated here. 图14B示出定向挠曲250、252,其经配置降低第三和第四正弦/余弦连杆246、248的作业角力水平(并且可以被用于降低第一和第二正弦/余弦连杆228、230的作业角力水平）。 14B shows directional deflection 250, 252, which reduces the third and fourth sine / cosine wrestling link level operations 246, 248 (and may be used to reduce the first and second sinusoidal configured / cosine link 228 , wrestling job level 230). 定向挠曲250、252中的每一个被配置为具有刚性取向和依从取向的悬臂梁，在所述刚性取向中的定向挠曲与所附接的正弦/余弦连杆对齐(如在第四正弦/余弦连杆248到第二平行四边形关节198的连接处所示），在所述依从取向中的定向挠曲被定向成垂直于所附接的正弦/余弦连杆（如在第三正弦/余弦连杆246到第一平行四边形关节192的连接所示）。 250, 252 each of orientation of the flexure is configured as a cantilever beam having a rigid compliance and sexual orientation, the orientation of deflection in the immediately following sexual contact in the sine / cosine rod aligned (as in the fourth sine / cosine link 248 is connected to the second parallelogram joint shown at 198), the orientation of the deflection in the compliant alignment is oriented perpendicular to the attached sine / cosine link (as in the third sine / 246,192 shown cosine parallelogram linkage articulated to the first). 定向挠曲250、252经配置成使得当所附接的正弦/余弦连杆提供扭矩传递的最大机械优势时，所提供的负载路径的刚性达到最大值，当所附接的正弦/余弦连杆提供扭矩传递的最小机械优势时，所提供的负载路径的刚性达到最小值。 Orientation by flexure 250, 252 configured such that when sine / cosine rod is attached to provide the torque transmission when the maximum mechanical advantage, there is provided a rigid load path reaches a maximum value, when attached sine / cosine provide a torque rod when passing the minimum mechanical advantage provided by the rigid load path reaches a minimum.
[0091] 如同在图14A和图14B中示出的正弦/余弦连杆的使用是可选的，并且如上所述，其他众所周知的方式(例如，齿轮，皮带等)存在以联接平行四边形连杆，以便所述平行四边机构正确起作用。 [0091] As used in FIGS. 14A and 14B shown in FIG sine / cosine links are optional, and as described above, there are other well-known manner (e.g., gears, belts, etc.) coupled to a parallelogram linkage , so that the parallelogram mechanism to function correctly.
[0092] 图15示出用于经过远程操纵中心(RC)的冗余轴线和关联的冗余机械自由度的实施方式的另一种方案。 [0092] FIG. 15 shows another embodiment of the scheme for redundancy through the mechanical axis and redundant degree of freedom associated with the manipulation remote center (RC) of. 图15示出根据许多实施例的远程中心操纵器260,其包括安装基座262,安装基座262包括相对于远程操纵中心(RC)具有恒定曲率半径的弯曲特征264,并且操纵器260的外侧(近侧)连杆机构的基座连杆266可以沿着该弯曲特征被重新定位。 Figure 15 shows the manipulator in accordance with many embodiments of the remote center 260, which includes a mounting base 262, mounting base 262 includes a remote manipulator with respect to the center (RC) having a constant radius of curvature of the curved features 264, 260 and manipulating the outside link base (proximal) of the link mechanism 266 can be repositioned along the curved feature. 外侧连杆机构被安装到基座连杆266,基座连杆266包括用于围绕与远程操纵中心(RC)交叉的第一轴线268转动的“偏转”接头特征。 Outer link mechanism is mounted to the base link 266, wherein the base includes a connecting rod 266 about a joint remote center manipulator (RC) intersecting the first axis of rotation 268 "deflection." 基座连杆266与弯曲特征264连接，使得基座连杆266被限制沿弯曲特征264选择性地重新定位，从而保持远程操纵中心（RC)相对于安装基座262的位置，安装基座262相对于患者被保持在固定位置。 Base link 266 is connected to the curved features 264, such that base link 266 is restricted along the curved features 264 are selectively repositioned remotely operated so as to maintain the center (RC) relative to the mounting position of the base 262, mounting base 262 relative to the patient is in a fixed position. 弯曲特征264经配置成使得基座连杆266的运动被限制成围绕与远程操纵中心(RC)交叉的第二轴线270转动。 Curved features 264 are configured such that movement of the base rod 266 is limited to 270 to rotate about the center intersect with the remotely operated (RC) of the second axis. 通过改变基座连杆266沿弯曲特征264的位置，操纵器260的外侧连杆机构相对于患者的取向可以被改变，从而提供由远程中心操纵器260操纵的手术器械的增加运动范围。 Position 266 along the curved features 264, the manipulator linkage 260 outward with respect to the orientation of the patient may be varied by varying the base link, thereby providing an increased range of motion of a manipulation remote center manipulator 260 of the surgical instrument. 平行四边形机构272提供在轴线274附近的转动。 Parallelogram mechanism 272 provided in the vicinity of the axis of rotation 274. 可以看出，随着整个平行四边形机构在轴线268附近转动，轴线270和274可以被重合。 As can be seen, as the entire parallelogram mechanism in the vicinity of the axis of rotation 268, 270 and the axis 274 may be coincident. 从与图9所示的实施例的配置相似的图15中示出的实施例可以进一步看出，平行四边形机构140和272是类似的，并且偏转接头76和266是类似的。 From the configuration similar to the embodiment shown in FIG. 9 and FIG. 15 shows an embodiment may further be seen, the parallelogram mechanism 140 and 272 are similar, and the deflection fitting 76 and 266 are similar.
[0093] 图16示出用于冗余轴的实施方式的另一种方案，该冗余轴线经过远程操纵中心(RC)从而提供关联的冗余自由度。 [0093] FIG. 16 shows another embodiment of the scheme for redundancy axis, which axis passes through the remotely operated redundant center (RC) associated to provide a redundant degree of freedom. 图16示出根据许多实施例的远程中心操纵器280,其包括安装基座282,安装基座282包括闭环弯曲特征284,操纵器280的外侧(远侧)连杆机构的基座连杆286可以在该闭环弯曲特征284内侧被重新定位。 Figure 16 shows 280, which includes a mounting base 282, mounting base 282 includes a base link 286 in accordance with many embodiments of the remote center manipulator closed loop curved features 284, 280 of the manipulator outer (distal) of the link mechanism It may be re-positioned in the inner loop 284 curved features. 如图所示，中心安装元件285在闭环弯曲特征284内侧转动。 As shown, the center of the mounting member 285 is rotated 284 in a closed loop inside curved features. 基座连杆286被安装在中心安装元件285上，中心安装元件285某种程度上向内朝向远程操纵中心定向。 Base link 286 is mounted on a central mounting member 285, the central mounting member 285 inwardly somewhat oriented toward the center of the manipulation remote. 外侧连杆机构被安装到基座连杆286,用于围绕与远程操纵中心（RC)交叉的第一轴线288转动。 Outer link mechanism is mounted to the base link 286, about a first axis 288 and a remote center manipulator (RC) intersects the rotation. 闭环弯曲特征284经配置成使得对于在弯曲特征284附近的基座连杆286的所有位置，远程操纵中心(RC)的位置相对于安装基座282保持固定，安装基座282相对于患者保持固定。 Closed curved features 284 are configured so that the patient remains fixed for all the positions, the center position of the remote manipulator (RC) of the base rod 284 near the curved features 286 relative to the mounting base 282 is held stationary with respect to mounting base 282 . 闭环弯曲特征284是圆形的，并且围绕与远程操纵中心（RC)交叉的第二轴线290是轴向对称的。 Closed circular curved features 284, 290 and about a second axis remote manipulator center (RC) is axially symmetric cross. 通过改变在闭环弯曲特征284附近的基座连杆286的位置，操纵器280的外侧连杆机构相对于患者的取向可以被改变，从而提供增加的运动范围、避免臂与臂或臂与环境的碰撞和/或避免远程中心操纵器280运动学奇异性。 By changing the position of the base 286 of the link 284 in the vicinity of the closed curved features, the manipulator linkage 280 outward with respect to the orientation of the patient may be varied to provide increased range of motion, to avoid the arm or arms and the arms of the environment collision and / or avoid the remote center manipulator 280 kinematic singularity. “部分圆”特征或安装基座仅横于圆的一部分的整圆特征也可以被使用。 "Circular portion," wherein only horizontal base or mounting portion in a full circle round features may also be used. 可以看出，弯曲特征284 及其关联的中心安装特征285起锥形摆动接头的作用。 As can be seen, the central mounting features 284 and its associated flex feature 285 acts as a tapered pivot joint. 因此，图16所示的实施例与图7中示出的实施例相似，锥形摆动接头122和284是类似的，并且偏转接头76和286是类似的。 Thus, the embodiment shown in FIG. 16 as in FIG. 7 is similar to the embodiment shown, the tapered joint 122 and pivot 284 are similar, and the deflection fitting 76 and 286 are similar.
[0094] 图17是根据许多实施例的远程中心操纵器300的透视示意图。 [0094] FIG. 17 is a schematic perspective view of the remote center 300 of the manipulator in accordance with many embodiments. 远程中心操纵器300 包括一些与图6的远程中心操纵器70相同的部件。 Remote center manipulator member 300 comprises the same number of the remote center manipulator 70 in FIG. 6. 共享部件包括安装基座72、基座连杆74、 偏转接头76、基座平行四边形接头80、第一平行四边形连杆82、第一平行四边形接头84、第二平行四边形连杆86、第二平行四边形接头88和器械夹持器92。 Sharing means comprises a mounting base 72, the base link 74, a deflection fitting 76, the base parallelogram joint 80, a first parallelogram linkage 82, a first parallelogram joint 84, a second parallelogram linkage 86, the second parallelogram joint 88 and instrument holder 92. 远程中心操纵器300还可以包括锥形摆动组件90 (未示出）。 Remote center manipulator 300 may further include a tapered pivot assembly 90 (not shown). 远程中心操纵器300包括偏移延伸连杆302,其使平行四边形连杆机构部分100从偏转轴线98偏移，从而定向不与偏转轴线98垂直的俯仰轴线102。 Remote center manipulator 300 includes an offset rod 302 extends, which causes the parallelogram linkage portion 100 is offset from the yaw axis 98, so that the yaw axis 98 is not oriented perpendicular to the pitch axis 102. 平行四边形连杆机构部分100从偏转轴线98的偏移可以由远程中心操纵器300通过偏转接头76在偏转轴线98附近转动时减少其摆动量，从而增加到患者的间隙且/或增加到毗邻远程中心操纵器(多个操纵器)的间隙。 Parallelogram linkage portion 100 offset from the pivot axis 98 may be a remote center manipulator 30 076 reduce the amount of wobble in the vicinity of the yaw axis is rotated through the deflection fitting 98 adjacent the remote to the patient and increases the gap / or increased Center gap manipulator (a plurality of manipulators) a. 作为非限制性示例，在一些实施例中偏移角是2.7度。 As a non-limiting example, in some embodiments, the deviation angle is 2.7 degrees. 虽然通过偏移所提供的附加间隙是很小的，但是在手术期间该间隙是显著的，这是由于若干个这类操纵器通常被接近定位以控制插入到患者中的器械。 Although the additional clearance provided by the offset is small, but the gap during operation is significant, since a plurality of such manipulators is typically positioned close to the control device is inserted into the patient. 甚至更显著的，增加的距患者的间隙可以允许增加器械端部执行器在患者内的运动范围，这允许外科医生在必要时进一步达到用于治疗目的的更远组织。 Even more significant, increase in the clearance distance may allow the patient to increase the range of motion of the instrument end effector within the patient, which allows the surgeon to achieve, if necessary, further treatment for the purpose of further tissue.
[0095] 图18是根据许多实施例的远程中心操纵器310的透视示意图。 [0095] FIG. 18 is a schematic perspective view of the remote center 310 in accordance with many embodiments of the manipulator. 远程中心操纵器310 包括图17的远程中心操纵器300和图9的远程中心操纵器140二者的方面。 Remote center manipulator 310 includes aspects of both FIG. 17 remote center manipulator and a remote center 300 of the manipulator 140 of FIG. 9. 具体地，远程中心操纵器310包括重新定向机构142、偏移延伸连杆302和平行四边形连杆机构部分100。 Specifically, the remote center manipulator 310 includes redirecting means 142, 302 and an offset extension link portion 100 of the parallelogram linkage mechanism. 因此， 远程中心操纵器310具有一个冗余轴线和关联的自由度，具体地，具有轴线144 (其可以在该实施例中被示出未与俯仰轴线102对齐），器械夹持器92可以围绕所述冗余轴线在远程操纵中心(RC)附近转动。 Thus, the remote center manipulator 310 having a redundant degree of freedom and axes associated, in particular, has an axis 144 (which can be shown not aligned with the pitch axis 102 in this embodiment), the instrument holder 92 may surround the rotation axis redundancy manipulator in the vicinity of the remote center (RC). 重新定向机构142可以在手术过程之前被用作设定接头且/或在手术过程期间被用于主动重新定向外侧(远侧)连杆机构，同时保持远程操纵中心(RC)相对于安装基座72的位置，并因此保持远程操纵中心(RC)相对于患者的位置。 Redirect mechanism 142 may be used prior to a surgical procedure and set linker / or be redirected for active outer (distal) the link mechanism during the surgical procedure, while keeping the remote center manipulator (RC) relative to the mounting base 72 position, and thus holding the manipulation remote center (RC) relative to the patient.
[0096] 本文公开的远程中心操纵器方面的任何合适的组合均可以被采用。 [0096] disclosed herein, any suitable combination of the remote center manipulator are aspects may be employed. 例如，远程中心操纵器可以包括重新定向机构142、锥形摆动机构122、偏移延伸连杆302和锥形摆动机构90的任何合适的组合。 For example, the remote center manipulator 142 may include a reorientation mechanism, the swing mechanism 122 is tapered, extending offset any suitable combination of the tapered rod 302 and the swing mechanism 90. 图19示出包括重新定向机构142、偏移延伸连杆302、平行连杆机构部分100和锥形摆动机构90的远程中心操纵器312。 Figure 19 shows a redirection mechanism 142 comprises, offset extension link 302, the remote center manipulator parallel link mechanism 100 and the tapered portion 90 of the swing mechanism 312.
[0097] 图20示出根据许多实施例的远程中心操纵器320。 [0097] FIG. 20 illustrates a number of remote center manipulator 320 of the embodiment. 操纵器320包括经配置可在现场更换的五个单元。 Manipulator 320 comprises five unit is configured to be field replaceable. 所述五个现场可更换单元(FRU)包括偏转/俯仰驱动组件332、具有延伸件近端326和延伸件远端328的延伸件324、具有第一连杆近端332和第一连杆远端334的第一平行四边形连杆330、具有第二连杆近端338和第二连杆远端340的第二平行四边形连杆336 以及器械夹持器342。 The five field replaceable unit (FRU) includes a deflector / tilt drive assembly 332, the extension having a proximal end 326 and a distal end of the extension member 328 extending member 324, a first link having a first proximal end 332 and a distal link end of the first link 330 is parallel quadrilateral 334, a second link having a proximal end 338 and a second distal end of the second parallel link 340 and 336 of the parallelogram linkage 342 instrument holder.
[0098] 偏转/俯仰驱动组件322包括安装基座344和与安装基座344联接的偏转/俯仰外壳346,以在与远程操纵中心(RC)交叉的偏转轴线348附近转动，其中远程操纵中心(RC)具有相对于安装基座344的固定位置。 [0098] yaw / tilt drive assembly 322 includes a mounting base 344 and the mounting base 344 is coupled to a deflection / tilt housing 346 to rotate in the vicinity of the remote center manipulator (RC) intersecting the pivot axis 348, wherein the remote center manipulator ( RC) having a fixed position relative to the mounting base 344. 安装基座344允许远程中心操纵器320通过推车底座的设定臂/接头、顶板底座、底板/柱脚底座或其他安装表面安装和支持。 Mounting base 344 allows the remote center manipulator arm 320 by setting the base of the cart / linker, the top base plate / mounting pedestal base or other mounting surface and support. 通过在相对于患者的固定位置和取向支撑安装基座344，远程操纵中心(RC)相对于患者被保持固定，从而为通过正被操纵的器械夹持器342保持的手术器械提供入口点，而不在手术器械的入口位置处对患者组织施加潜在危害的力。 By a fixed position and orientation relative to the patient support mounting base 344, a remote center manipulator (RC) is held stationary relative to the patient to provide an entry point for the surgical instrument being manipulated by the instrument holder 342 of the holder, and surgical instrument position is not at the inlet of the potential harm to a force applied to the patient's tissue. 偏转/俯仰驱动组件322可操作相对于安装基座344选择性地转动偏转/俯仰外壳346,从而转动远程中心操纵器320的外侧部分，使得器械夹持器342在偏转轴线348附近转动(偏转)而没有相对于安装基座344移动远程操纵中心(RC)。 Yaw / tilt drive assembly 322 is operable to selectively rotate 344 relative to the mounting base yaw / pitch housing 346, thereby rotating the outer portion of the remote center manipulator 320, such that rotation of the instrument holder 342 (yaw) around the yaw axis 348 without moving relative to the mounting base 344 remotely operated center (RC).
[0099] 延伸件324向远程中心操纵器320的平行四边形连杆机构部分的基座接头350提供支撑。 [0099] extension of the base member 324 to the joint portion of the link mechanism remote center parallelogram manipulator 320 350 to provide support. 延伸件近端326被固定安装到偏转/俯仰外壳346。 The extension member 326 is fixedly mounted to the proximal end of the yaw / pitch housing 346. 第一连杆近端332经由基座接头350 与延伸件远端328联接，使得第一平行四边形连杆330相对于延伸件324在第一偏移俯仰轴线352附近转动。 The proximal end of first link 332 via connector 350 of the base 328 is coupled with the distal end of the extension member, such that the first parallelogram linkage extension member 324 is rotated 330 with respect to the pitch axis 352 near the first offset. 第一平行四边形连杆330被偏移到延伸件324的一侧，使得第一平行四边形连杆330在与延伸件324偏移的运动平面中移动，并因此可以转动对准和经过延伸件324而没有干扰延伸件324。 A first parallelogram link 330 is shifted to the side of the extension member 324, such that the first parallelogram linkage 330 moves the moving member 324 extending in a plane of the offset, and thus can rotate the alignment member 324 and extends through extension member 324 without interference.
[0100] 远程中心操纵器320的平行四边形连杆机构部分包括第一平行四边形连杆330、第二平行四边形连杆336和器械夹持器342。 [0100] remote center parallelogram manipulator linkage mechanism portion 320 comprises a first parallelogram linkage 330, the second parallelogram link 336 and the holder 342 instrument. 第二连杆近端338经由第一中间接头354与第一连杆远端334联接，使得第二平行四边形连杆336在与第一偏移俯仰轴线352平行的第二偏移俯仰轴线356附近相对于第一平行四边形连杆330转动并相对于第一连杆远端334被固定。 A first proximal end of the second link 338 via a joint 354 intermediate the distal end of the first link 334 is coupled, such that the second parallelogram linkage 336 in the vicinity of the second pitch axis offset parallel to the first offset pitch axis 352356 relative to the first parallelogram linkage 330 rotates with respect to the distal end of the first link 334 is fixed. 第二平行四边形连杆336被偏移到第一平行四边形连杆330的一侧，使得第二平行四边形连杆336在与第一平行四边形连杆330偏移的运动平面中移动，并因此可以转动对准和经过第一平行四边形连杆330而没有干扰第一平行四边形连杆330。 The second parallelogram linkage 336 is shifted to the side of the first parallelogram linkage 330, such that the second parallelogram link 336 is moved in the plane of movement of the first parallelogram link offset of 330, and thus can be rotated after the first alignment and the parallelogram linkage 330 without interfering with the first parallelogram linkage 330. 器械夹持器342经由第二中间接头358与第二连杆远端340联接，使得器械夹持器342在与第一偏移俯仰轴线352平行的第三偏移俯仰轴线360附近相对于第二平行四边形连杆336转动并相对于第二连杆远端340被固定。 Instrument holder 342 and the second intermediate joint 358 distal end 340 is coupled via a second link, such that the instrument holder 342 in the vicinity of the third offset pitch axis parallel to the first pitch offset relative to the second axis 352360 parallelogram link 336 is rotated with respect to the distal end of the second link 340 is fixed. 第一和第二中间接头354、358中的每一个的转动被连接到基座接头350的转动，使得第一平行四边形连杆330、第二平行四边形连杆336和器械夹持器342被限制随同平行四边形连杆机构移动，从而围绕与远程操纵中心(RC)交叉的俯仰轴线362转动(俯仰）。 Rotating the first and second intermediate connectors 354,358 each of which are rotatably connected to the base 350 of the joint, so that the first parallelogram linkage 330, and a second parallelogram link 336 is limited to instrument holder 342 along with the parallelogram linkage is moved so as to rotate (pitch) about the pitch axis 362 and the remotely operated Center (RC) intersect.
[0101] 器械夹持器342包括手术器械被安装在上面的滑座(carriage)组件364。 [0101] Device 342 includes a surgical instrument holder is mounted on the upper carriage (Carriage) 364 components. 器械夹持器342包括可操作沿插入轴线366平移滑座组件364的插入驱动机构，从而控制手术器械通过远程操纵中心(RC)的插入。 Inserting the instrument holder 342 includes a drive mechanism operable to translate along the insertion axis 366 of the carriage assembly 364, thereby controlling the remotely operated surgical instrument inserted through the center (RC) of. 手术器械通常经过插管368,插管368通常被安装在器械夹持器342的远端处，以及用于沿与轴线366重合的中心线限定手术器械的远程操纵中心(RC)。 The surgical instrument through the cannula 368 generally, the cannula 368 is typically mounted at the distal end of the instrument holder 342, and a remotely operated Center (RC) along the axis 366 coincides with the center line defining the surgical instrument.
[0102] 图21示出远程中心操纵器320的俯视图。 [0102] FIG. 21 shows a top view of the remote center manipulator 320 of FIG. 如图所示，偏转轴线348与俯仰轴线366成角度偏移而不是90度的角度。 As shown, the pivot axis 348 rather than the angle of 90 degrees and 366 angularly offset pitch axis. 在所示出的实施例中，偏转轴线348与俯仰轴线366成角度偏移87.3度。 In the embodiment illustrated, the pivot axis 348 and the pitch axis 366 angularly offset 87.3 degrees. 通过偏转轴线348与俯仰轴线366偏移不是90度的角度，远程中心操纵器320围绕偏转轴线348转动的作业空间包络(摆动量)相对于使用偏转轴线348与俯仰轴线366之间90 度的角度偏移是减少的。 Yaw axis 348 by an angle 366 of 90 degrees is not offset pitch axis, the remote center manipulator working space 320 around the pivot axis 348 of rotation of the envelope (amount of rocking) with respect to the pitch axis between 348 and 366 degrees use the pivot axis 90 angular offset is reduced. 远程中心操纵器320围绕偏转轴线348转动的摆动量的这种减少在图22中示出。 Remote center manipulator 320 about a pivot axis of the swing amount of this rotation is reduced 348 shown in FIG. 22. 对于所示出的实施例，87.3度的角度偏移产生相对更小的在基座接头350处具有7.95英寸直径的摆动量368。 For the embodiment shown, the offset angle of 87.3 degrees to produce a relatively smaller amount of oscillation 368 having a diameter of 7.95 inches at the joint base 350. 相比之下，当使用与俯仰轴线366具有90度角度偏移的偏转轴线370时，其产生相对更大的在基座接头350处具有8.98英寸直径的摆动量372。 In contrast, when the pitch axis 370 and 366 when using a 90 degree offset angle of the pivot axis, which produces a relatively larger amount of oscillation having a diameter of 8.98 inches at the base of the joint 350,372. 因此，使用87.3度的角度偏移产生大约0.5英寸的额外患者间隙，如上所述，这对于手术性能可以有显著影响。 Therefore, the offset angle of 87.3 degrees to generate additional patients gap of about 0.5 inches, as described above, which can have a significant effect on the performance of the operation.
[0103] 图23是远程中心操纵器320的侧视图，其中，器械夹持器342被俯仰回到最大量。 [0103] FIG. 23 is a side view of the remote center manipulator 320, wherein the instrument holder 342 is back to the large pitch. 在所示出的构造中，第一平行四边形连杆330已被摆动到与延伸连杆324对齐的位置，并且第二平行四边形连杆336已被摆动到刚与第一平行四边形连杆330对齐的位置，从而将插入轴线366定向为与偏转轴线348从垂直374到75度的角度偏移。 In the illustrated construction, a first parallelogram link 330 has been swung to a position aligned with the extension rod 324, and a second parallelogram link 336 has been swung to just the first parallelogram link 330 is aligned position, insert 366 is oriented so that the axis 348 is offset from the axis of the deflection angle of 374 to 75 degrees of vertical. 虽然远程中心操纵器320能够经配置例如通过增加延伸连杆324的长度使得器械夹持器342不接触到偏转/俯仰外壳346以实现甚至更大的最大俯仰回角，但是在给定远程中心操纵器320的运动学条件下，即当插入轴线366与偏转轴线348之间的角度减少到低于15度，器械夹持器342相对于远程操纵中心(RC)的偏转逐渐变差时，所获得的额外俯仰回角可能是不切实际的值。 Although the remote center manipulator 320 can be configured, for example, by increasing the length of the connecting rod 324 extends such that the instrument holder 342 does not contact the yaw / pitch housing 346 to achieve even greater maximum pitch angle back, but given the remote center manipulator the kinematic conditions of 320, i.e., when the insertion axis 366 and to reduce the angle between the pivot axis 348 to less than 15 degrees, when the instrument holder 342 with respect to a remote center manipulator (RC) deflection becomes worse, the obtained additional pitch back angle may not be practical value.
[0104] 其他变体在本发明的精神范围内。 [0104] Other variations within the spirit of the present invention. 因此，虽然本发明可以假设各种更改和替代结构，但是其特定实施例已在附图中示出并在上面详细描述。 Accordingly, while the present invention can assume various modifications and alternative constructions, but specific embodiments thereof have been shown in the drawings and described in detail above. 不过应当理解，本发明并不局限于所公开的具体形式或多种形式，恰恰相反，本发明覆盖落入本发明精神和范围内的所有更改、替代和等效结构，如随附权利要求所限定的。 However, it should be understood that the present invention is not limited to the specific form or forms disclosed, on the contrary, the present invention covers all falling within the spirit and changes, substitutions and equivalent structures within the scope of the present invention, as the following claims limited.
[0105] 在描述本发明的上下文(尤其是在随附权利要求书的上下文中）中，术语“一”和“一个”和“该”以及类似提及的使用应当被解释为覆盖单数和复数形式，除非本文另有指出的或在上下文中明确否认的。 [0105] In the context of describing the invention (especially in the appended claims context), the terms "a" and "an" and "the" and similar mentioned use should be construed to cover both the singular and the plural form, unless otherwise indicated herein or the context clearly deny. 术语“包括”、“具有”、“包含”和“含有”应被解释为开放性的术语(即，含义是“包括但不限于”），除非另有指出的。 The term "comprising", "having", "including" and "containing" are to be construed as open-ended terms (i.e., meaning "including, but not limited to,") unless otherwise indicated. 术语“被连接”应当被解释为部分或全部被包含在内、被附接或被接合在一起，即使有某些东西介入中间。 The term "connected" is to be construed as partly or wholly contained within, attached to or are joined together, even if there is something intervening intermediate. 本文引用的值范围仅旨在起单独提及落入范围内的每个单独值的速记方法的作用，除非本文另有指出的，并且每个单独值被合并在本说明书中，如同其在本文中被单独引用一样。 Value range cited herein are merely intended to act as a shorthand method of referring individually to each separate value falling within the range, unless otherwise indicated herein, and each separate value is incorporated in the present specification, as if it herein They are individually incorporated. 本文所述的所有方法可以以任何合适的次序执行，除非本文另有指出的或上下文中明确否认的。 All methods described herein can be performed in any suitable order unless otherwise indicated herein or the context clearly deny. 本文提供的任何和所有示例或示例性语言（例如，“例如”）旨在更好说明本发明的实施例，并不是对本发明的范围提出限制，除非以其他方式提出要求。 Any and all examples, or exemplary language provided herein (e.g., "such as") is intended to better illustrate embodiments of the present invention, not pose a limitation on the scope of the invention unless otherwise requested. 本说明书中没有语言应当被解释为指示实践本发明所必需的任何未要求保护的元素。 No language in the specification should be construed as indicating any element required for the practice of the present invention is non-claimed.
[0106] 本文描述了本发明优选实施例，包括用于执行本发明的发明人已知的最佳模式。 [0106] herein described preferred embodiments of the invention, comprising means for carrying out the invention the best mode known to the inventors. 在阅读前面的描述后，那些优选实施例的变体对于本领域中的普通技术人员来说是显而易见的。 After reading the foregoing description, variations of those preferred embodiments will be apparent to those skilled in the art. 发明人希望技术人员在适当时采用这类变体，并且发明人希望以与本文具体描述不同的其他方式实践本发明。 The inventors expect skilled artisans to employ such variants where appropriate, and the inventors intend to specifically herein to describe various other ways to practice the invention. 因此，本发明包括适用法规允许的在权利要求中引用主题的所有更改和等同物。 Accordingly, the present invention includes all applicable regulations permit modifications and equivalents of the subject matter cited in the claims. 而且，上述元素在所有可能变体中的任何组合均包含在本发明范围内，除非本文另有指出的或在上下文中明确否认的。 Moreover, any combination of the above-described elements in all possible variations thereof are included within the scope of the invention unless otherwise indicated herein or clearly denied context.
[0107] 本文引用的所有参考文献(包括出版物、专利申请和专利）以相同程度被合并于此，正如单独和具体指出的每个参考文献被合并于此供参考一样。 [0107] All references cited herein (including publications, patent applications, and patents) are incorporated herein to the same extent as each individually and specifically indicated to be incorporated by reference herein for reference.
1. 一种用于在微创机器人手术期间限制手术器械(94)的位置的远程中心操纵器，所述手术器械(94)包括细长轴，所述轴具有远侧作业端，所述远侧作业端经配置通过远程操纵中心插入患者体腔内，所述远程中心操纵器包括： 安装基座(72)，其经配置相对于患者被保持在固定位置； 器械夹持器(92)，其经配置与所述手术器械(94)联接;和连杆机构，其将所述器械夹持器(92)联接到所述安装基座(72)，所述连杆机构包括： 偏转接头(76)，其可操作以产生受限于围绕与所述远程操纵中心交叉的偏转轴线(98) 的转动的所述器械夹持器(92)的运动； 平行四边形连杆机构部分（100)，其可操作以产生受限于围绕与所述远程操纵中心交叉的俯仰轴线（102)的转动的所述器械夹持器(92)的运动，所述俯仰轴线（102)不与所述偏转轴线(98)重合;和锥形摆动机构(90,122)和/或重新定向机构（ 1. A method for the remote center during a minimally invasive robotic surgical manipulator limit surgical instrument (94) of the position of the surgical instrument (94) including an elongated shaft, said shaft having a distal working end, the distal working end arranged side by inserting the manipulation remote central body cavity of the patient, the remote center manipulator comprising: a mounting base (72) which is configured relative to the patient in a fixed position; the instrument holder (92) configured with the surgical instrument (94) is coupled; and a link mechanism, which the instrument holder (92) coupled to said mounting base (72), said link mechanism comprises: a deflection fitting (76 ), operable to generate a yaw axis limited to about the center of the manipulation remote crossing (98) of rotation of the instrument holder (92) movement; parallelogram linkage mechanism portion (100), which operable to generate limited to around with the remote manipulation pitch axis intersects the center (102) of rotation of the instrument holder (92) movement, said pitch axis (102) with said deflection axis is not ( 98) overlap; and a conical swinging mechanism (90,122) and / or the redirection mechanism ( 142);所述锥形摆动机构(90,122)可操作以产生受限于围绕与所述远程操纵中心交叉的锥形摆动轴线（114，128)的转动的所述器械夹持器(92)的运动，所述锥形摆动轴线（114，128)不与所述偏转轴线(98)和所述俯仰轴线(102)中的任一个重合;所述重新定向机构（142)可操作以产生受限于围绕与所述远程操纵中心交叉的重新定向轴线（144)的转动的所述器械夹持器(92)的运动，所述重新定向轴线(144)不与所述偏转轴线（98)重合，所述俯仰轴线（102)可移动成不与所述重新定向轴线(144)重合。 142); said conical oscillating means (90,122) operable to generate limited to about a rotation center intersect with the remote manipulation conical pivot axis (114, 128) of the instrument holder (92) movement, the tapered pivot axis (114, 128) is not said deflection axis (98) and any one of said pitch axis (102) in a coincident; said redirecting means (142) is operable to generate a limited around said redirection in remote piloting and intersects the central axis (144) of rotation of the instrument holder (92) movement, the re-orientation axis (144) does not coincide with the yaw axis (98), the pitch axis (102) movable so as not to coincide with the re-orientation axis (144).
2. 根据权利要求1所述的操纵器，其中： 所述平行四边形连杆机构部分（100)包括两个平行四边形连杆(82,86)和三个转动联接的转动接头(80，84，88)，所述三个转动联接的转动接头(80，84，88)被配置成产生所述平行四边形连杆机构部分(100)的受约束的平行四边形运动。 2. The manipulator according to claim 1, wherein: said parallelogram linkage portion (100) comprises two parallelogram linkage (82, 86) and three rotational coupling rotary joint (80, 84, 88), rotational coupling of the three rotary joint (80,84,88) is configured to generate the movement parallel quadrilateral parallelogram linkage mechanism portion (100) is constrained.
3. 根据权利要求1所述的操纵器，其中： 所述连杆机构包括所述锥形摆动机构(90,122);并且在所述偏转轴线(98)与所述锥形摆动轴线（128)之间的角度在10度与30度之间。 3. The manipulator according to claim 1, wherein: said swinging link mechanism comprising the tapered means (90,122); and with the conical pivot axis (128) in said yaw axis (98) of angle between between 10 and 30 degrees.
4. 根据权利要求3所述的操纵器，其中在所述偏转轴线(98)与所述锥形摆动轴线（128) 之间的所述角度大约是15度。 4. The manipulator according to claim 3, wherein said yaw axis (98) and the swing angle between the axis of the cone (128) is approximately 15 degrees.
5. 根据权利要求1所述的操纵器，其中： 所述连杆机构包括所述重新定向机构（142);并且所述偏转轴线(98)与所述重新定向轴线（144)是垂直的。 5. The manipulator according to claim 1, wherein: said link mechanism comprises a redirecting means (142); and the yaw axis (98) and the re-orientation axis (144) is vertical.
6. 根据权利要求1所述的操纵器，其中所述偏转轴线(98)与所述俯仰轴线（102)是垂直的。 6. The manipulator according to claim 1, wherein said yaw axis (98) and the pitch axis (102) is vertical.
7. 根据权利要求1所述的操纵器，其中： 所述连杆机构包括所述锥形摆动机构(90); 所述连杆机构包括串联连接的连杆组件;并且所述锥形摆动机构（90)连接在所述串联连接的连杆组件中的所述平行四边形连杆机构部分（100)与所述器械夹持器(92)之间。 7. The manipulator according to claim 1, wherein: said swinging link mechanism comprising the tapered means (90); said linkage assembly comprises a linkage mechanism connected in series; and said conical swinging mechanism the (90) connected to said linkage assembly connected in series between the parallelogram linkage mechanism of the parallel portion (100) of the instrument holder (92).
8. 根据权利要求7所述的操纵器，其中所述锥形摆动机构（90)连接到所述器械夹持器(92)并且/或者可操作以定向所述器械夹持器(92)，以便所述手术器械细长轴位于由所述偏转轴线(98)和所述锥形摆动轴线（114)限定的平面中。 8. The manipulator according to claim 7, wherein said tapered pivot means (90) coupled to said instrument holder (92) and / or operable to orient the instrument holder (92), so that the elongate shaft is located in the plane of the surgical instrument by the yaw axis (98) and the conical pivot axis (114) defined by.
9. 根据权利要求2所述的操纵器，其中，所述平行四边形连杆机构部分（100)包括正弦/ 余弦连杆(228，230)，其驱动地联接所述三个转动联接的转动接头(80，84，88)中的至少一对，所述三个转动联接的转动接头(80,84,88)被配置为产生所述平行四边形连杆机构部分(100)的受约束的平行四边形运动。 9. The manipulator according to claim 2, wherein said parallelogram linkage portion (100) includes a sine / cosine rod (228, 230), which is drivingly coupled to the rotatable coupling of three pivot joint the (80,84,88) at least one pair of said three rotational coupling rotary joint (80,84,88) is configured to generate the parallelogram linkage portion (100) constrained parallelogram motion.
10. 根据权利要求2所述的操纵器，其进一步包括带有定向挠曲的正弦/余弦连杆，所述正弦/余弦连杆驱动地联接所述三个转动联接的转动接头(80，84，88)中的至少一对，所述三个转动联接的转动接头(80,84,88)被配置为产生所述平行四边形连杆机构部分(100)的受约束的平行四边形运动。 10. The manipulator according to claim 2, further comprising a sine / cosine directional link with a deflection, the sine / cosine link drivingly coupled to said rotatable coupling of three pivot joint (80, 84 , 88), at least one pair of said three rotational coupling rotary joint (80,84,88) is configured to generate the movement parallel parallelogram linkage constrained quadrangular portion (100).
11. 根据权利要求1所述的操纵器，其中： 所述连杆机构包括所述锥形摆动机构(90); 所述连杆机构包括串联连接的连杆组件;并且所述锥形摆动机构（90)连接在所述串联连接的连杆组件中的所述安装基座（72)与所述偏转接头(76)之间。 11. The manipulator according to claim 1, wherein: said swinging link mechanism comprising the tapered means (90); said linkage assembly comprises a linkage mechanism connected in series; and said conical swinging mechanism the (90) connected to said linkage assembly connected in series in the mounting base (72) of the deflection fitting (76) between.
12. 根据权利要求11所述的操纵器，其中在所述锥形摆动轴线（128)与所述偏转轴线(98)之间的角度在10度与30度之间。 12. A manipulator according to claim 11, wherein the taper angle between the axis of pivot (128) with said deflection axis (98) between 10 and 30 degrees.
13. 根据权利要求12所述的操纵器，其中在所述锥形摆动轴线（128)与所述偏转轴线(98)之间的所述角度大约是15度。 13. A manipulator according to claim 12, wherein the taper angle between the axis of the pivot (128) with said deflection axis (98) is approximately 15 degrees.
14. 根据权利要求11所述的操纵器，其中所述锥形摆动机构（122)包括锥形摆动连杆(126)，所述锥形摆动连杆（126)具有锥形摆动连杆体区段，所述锥形摆动连杆体区段具有封闭单元横截面构造。 14. A manipulator according to claim 11, wherein said tapered pivot means (122) comprises a conical swing link (126), the tapered swing link (126) having a tapered region swing link member section, said tapered body sections having a swing link closed cell cross-sectional configuration.
15. 根据权利要求11所述的操纵器，其中所述连杆机构包括第二锥形摆动机构，所述第二锥形摆动机构连接在所述串联连接的连杆组件中的所述平行四边形连杆机构部分（100) 和所述器械夹持器(92)之间，所述第二锥形摆动机构可操作以产生受限于围绕与所述远程操纵中心交叉的第二锥形摆动轴线的旋转的所述器械夹持器(92)的运动，所述第二锥形摆动轴线不与所述偏转轴线(98)、所述俯仰轴线（102)和所述锥形摆动轴线（128)中的任一个重合。 The parallelogram manipulator according to claim 11, wherein the linkage mechanism comprises a second tapered swing, the second tapered oscillating mechanism connecting the link assembly in the series connection between a portion of the link mechanism (100) and said instrument holder (92), said second oscillating means operable to generate a cone restricted to pivot about a second axis of manipulation and the remote central tapered cross rotating the instrument holder (92) movement of the second tapered pivot (102) and said tapered pivot axis of said deflection axis is not (98), said pitch axis (128) either a coincident.
16. 根据权利要求11所述的操纵器，其中，所述平行四边形连杆机构部分(100)包括： 两个平行四边形连杆(82,86)和三个转动联接的转动接头(80,84,88)，所述三个转动联接的转动接头(80,84,88)被配置成产生所述平行四边形连杆机构部分(100)的受约束的平行四边形运动；以及正弦/余弦连杆(228,230)，其驱动地联接被配置为产生所述平行四边形连杆机构部分(100)的受约束的平行四边形运动的所述三个转动联接的转动接头(80,84,88)中的至少一对。 16. A manipulator according to claim 11, wherein said parallelogram linkage portion (100) comprising: two parallelogram links (82, 86) and three rotational coupling of the pivot joint (80, 84 , 88), coupled to the three rotary pivot joint (80,84,88) is configured to generate the parallelogram linkage portion (100) of the parallelogram constrained motion; and a sine / cosine link ( 228, 230), which is drivingly coupled to said rotary joint is arranged to generate three rotational coupling said parallelogram linkage portion (100) constrained parallelogram movement (80,84,88) at least one of Correct.
17. 根据权利要求16所述的操纵器，其中，所述正弦/余弦连杆包括定向挠曲。 17. The manipulator according to claim 16, wherein said sine / cosine directional link comprises a flexure.
18. 根据权利要求1所述的操纵器，其中： 所述连杆机构包括所述重新定向机构（142); 所述连杆机构包括串联连接的连杆组件;并且所述重新定向机构（142)连接在所述串联连接的连杆组件中的所述安装基座(72)与所述偏转接头(76)之间。 18. The manipulator according to claim 1, wherein: said link mechanism comprises a redirecting means (142); said linkage assembly comprises a linkage mechanism connected in series; and said redirecting means (142 a) connecting the series connection of the link assembly in the mounting base (72) of the deflection fitting (76) between.
19. 根据权利要求18所述的操纵器，其中所述重新定向机构（142)包括弯曲特征（148)， 所述弯曲特征(148)具有相对于所述远程操纵中心的恒定曲率半径。 19. The manipulator according to claim 18, wherein said redirecting means (142) comprises a curved feature (148), the curved features (148) having a constant radius of curvature with respect to the center of the manipulation remote.
20. 根据权利要求18所述的操纵器，其中所述重新定向机构（142)包括闭环弯曲特征(284)，基座连杆(286)被接口连接到所述闭环弯曲特征（284)，使得所述基座连杆(286)被约束成沿所述闭环弯曲特征(284)移动。 Base link (286) is connected to claim 20. The manipulator of claim 18, wherein said redirecting means (142) comprises a closed curved features (284) to said closed curved features an interface (284), such that the base link (286) is constrained to move along said closed loop curved features (284) moves.
21. 根据权利要求18所述的操纵器，其中，所述平行四边形连杆机构部分(100)包括： 两个平行四边形连杆(82,86)和三个转动联接的转动接头(80,84,88)，所述三个转动联接的转动接头(80,84,88)被配置成产生所述平行四边形连杆机构部分(100)的受约束的平行四边形运动；以及正弦/余弦连杆(228,230)，其驱动地联接被配置为产生所述平行四边形连杆机构部分(100)的受约束的平行四边形运动的所述三个转动联接的转动接头(80,84,88)中的至少一对。 21. The manipulator according to claim 18, wherein said parallelogram linkage portion (100) comprising: two parallelogram links (82, 86) and three rotational coupling of the pivot joint (80, 84 , 88), coupled to the three rotary pivot joint (80,84,88) is configured to generate the parallelogram linkage portion (100) of the parallelogram constrained motion; and a sine / cosine link ( 228, 230), which is drivingly coupled to said rotary joint is arranged to generate three rotational coupling said parallelogram linkage portion (100) constrained parallelogram movement (80,84,88) at least one of Correct.
22. 根据权利要求21所述的操纵器，其中，所述正弦/余弦连杆包括定向挠曲。 22. The manipulator according to claim 21, wherein said sine / cosine directional link comprises a flexure.
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