CN102119872A - Compact quick-change mechanism of robot for minimally invasive surgery - Google Patents
Compact quick-change mechanism of robot for minimally invasive surgery Download PDFInfo
- Publication number
- CN102119872A CN102119872A CN2011100260109A CN201110026010A CN102119872A CN 102119872 A CN102119872 A CN 102119872A CN 2011100260109 A CN2011100260109 A CN 2011100260109A CN 201110026010 A CN201110026010 A CN 201110026010A CN 102119872 A CN102119872 A CN 102119872A
- Authority
- CN
- China
- Prior art keywords
- transmission component
- interface
- transmission
- quick
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 84
- 238000002324 minimally invasive surgery Methods 0.000 title abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 225
- 210000000707 wrist Anatomy 0.000 claims abstract description 35
- 239000007787 solid Substances 0.000 claims description 97
- 230000008859 change Effects 0.000 claims description 91
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 80
- 238000010276 construction Methods 0.000 claims description 13
- 239000000725 suspension Substances 0.000 claims description 13
- 239000002184 metal Substances 0.000 claims description 8
- 229910052751 metal Inorganic materials 0.000 claims description 8
- 238000012856 packing Methods 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 abstract description 23
- 239000010959 steel Substances 0.000 abstract description 23
- 239000003638 chemical reducing agent Substances 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000001356 surgical procedure Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004899 motility Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 210000000232 gallbladder Anatomy 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
- 238000010618 wire wrap Methods 0.000 description 1
Images
Abstract
The invention discloses a compact quick-change mechanism of a robot for minimally invasive surgery. The compact quick-change mechanism is composed a quick-change box and a quick-change base, and mainly comprises four groups of transmission mechanisms, a limiting and locking mechanism, a driving system and the like, wherein the connecting part of the quick-change box is connected with the tail end of an instrument with a wrist function through a rotating axis, and the quick-change box can quickly slide along a concave chute of the quick-change base, thereby realizing replacement of surgical instruments; the quick-change box sliding into the quick-change base is limited and fixed by the limiting and locking mechanism installed at the tail end of the quick-change base; the four groups of transmission mechanisms are in similar structures, and finally realize four degrees of freedom of the tail end of the instrument in a wire transmission mode respectively by a servomotor; a transmission steel wire can be fixed and tensioned by a wire fixing wheel assembly in each transmission mechanism; and the driving system is composed of a servomotor and a harmonic speed reducer, and is fixed on the base frame of the quick-change base through threaded connection. The compact quick-change mechanism disclosed by the invention has the advantages of compact structure, light weight, reliable transmission, high quick-change efficiency and the like.
Description
Technical field
The present invention relates to a kind of quick-changing mechanism, be specifically related to a kind of minimally invasive surgical operation robot compact quick-changing mechanism.
Background technology
Minimally Invasive Surgery is meant that the doctor utilizes the miniature incision of elongated operation tool by human body surface to be insinuated into the operation that undergos surgery in the body, is the cutting edge technology that traditional surgery combines with high-tech operating theater instruments and electronic display system.
The used endoscope of micro-wound surgical operation can reach operative site deeply, and hands that make to implement the doctor of operation need not to enter in the body, has significantly reduced to the damage of sufferer internal organs with to the interference of organ function, and the post-operative recovery time is shortened.Yet, when Minimally Invasive Surgery brings many interests for patient, the operation easier of medical apparatus and instruments is greatly improved, because the body surface otch has limited instrument degree of freedom number, motility greatly reduces as (1); (2) doctor can only obtain surgical scene information by the two dimensional image on the interior endoscope device display, lacks depth preception; (3) shake of doctor's hand may be amplified by elongated operation tool; (4) lack force feeling etc.Therefore, the doctor must have been trained for a long time and can carry out the Minimally Invasive Surgery operation.Even so, Minimally Invasive Surgery also only is applied among the relatively simple operation process of operation at present.
In the middle of the micro-wound operation robot operation process, operation tool is unique and human lesion is organized contacted part, also be the robot part of directly carrying out operation technique, therefore, the performance of operation tool is the key point of minimally-invasive surgery robot system combination property.For adapting to the requirement of modernized Minimally Invasive Surgery, the design of operation tool should satisfy delicate structure, flexible operation, various informative, be easy to change, be fit to requirements such as medical environment, particularly operation tool should have more degree of freedom satisfying the motility requirement, and will be easy to change and could realize complicated operation technique.Therefore, the performance of the quick-changing mechanism that matches with operation tool also is the important component part of minimally-invasive surgery robot system combination property, and its performance indications not only affect the use of operation tool, has also directly determined the design objective and the layout type of main body system.In a word, the performance of operation tool and fast replacing device is to embody the key factor of surgical robot system overall performance level.
In the world, the existing many condoms model machine of minimally-invasive surgery robot system research field has reached the commercial clinical application level, comprises da Vinci, Zeus, LAPROTEK system etc.Development by the research surgical robot system finds that the operation tool system mainly is made up of tools section and fast replacing device.The development trend of tools section is to be developed to silk transmission, multiple degrees of freedom by bar transmission, low degree-of-freedom, though its structure is more and more simplified, function becomes from strength to strength; Fast replacing device then is to develop to compact, integrated-type gradually, and it is more and more efficient, stable that performance also becomes.Existing two cover commercialization micro-wound operation robots all are the four-degree-of-freedom operation tool systems that adopts the silk transmission, but shortcoming such as these operation tool systems still exist topology layout to disperse, and overall dimensions is bigger, so the operation tool system still has very big development potentiality.
In China, the research and development of minimally invasive surgical operation robot also are in the starting stage, especially to the operation tool system research, compare bigger gap in addition with foreign technology, therefore, the transmission of exploitation silk, surgical instrument with degrees of freedom and the performance that matches the more fast replacing device of stability and high efficiency advance the related-art technology progress significant to filling the domestic gaps.Research and development have far reaching significance for promoting China in science, the technology status of this scientific research field with the surgical instrument with degrees of freedom system that existing system has different silk type of belt drive and quick change mode.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of operation tool system that can realize and separate and can effectively dwindle the overall dimensions of whole surgery tool system with the Fast Installation of robot main body system, steady more, the accurate minimally invasive surgical operation robot compact quick-changing mechanism of feasible silk transmission.
Minimally invasive surgical operation robot compact quick-changing mechanism, it comprises by the terminal right lobe transmission component of last interface, the terminal left lobe transmission component of last interface, the last interface drive system that last interface wrist pitching transmission component and last interface rotation transmission component are formed, by the terminal right lobe transmission component of lower interface, the terminal left lobe transmission component of lower interface, the lower interface drive system that lower interface wrist pitching transmission component and lower interface rotation transmission component are formed and by the right lobe driven unit of end, terminal left lobe driven unit, the operation tool drive system that wrist pitching driven unit and rotation transmission driven unit are formed, described each transmission component of going up in the interface drive system be vertically set on the quick change case base and and the lid plate that is fixedly linked of quick change case base between, its axis along with last interface transmission component in the vertically disposed rotation connecting axle of rotation axis of each transmission component link to each other by the bearing saddle bore of bearing with quick change case base front end, be provided with a groove and its groove end is arranged between interface wrist pitching transmission component and the last interface rotation transmission component at an end of described rotation connecting axle, shackle line after the solid silk of last interface rotation transmission component twines curls up with the silk groove end of rotation connecting axle and links to each other, curl up respectively at the terminal right lobe transmission component of last interface, shackle line on terminal left lobe transmission component of last interface and the last interface wrist pitching transmission component leads by the quick change box transmission directive wheel mechanism of a corresponding setting with it earlier separately, the centre bore that passes the rotation connecting axle then more respectively with the instrument wrist, right lobe of tool tip and tool tip left side lobe are rotatedly connected, each quick change box transmission directive wheel mechanism is connected between described quick change case base and the lid plate, each driven unit in the described operation tool drive system includes drive source, the vertical setting of rotation axis of each transmission component in the output shaft of drive source and the lower interface transmission component is Gu a silk wheel construction is held tightly on the output shaft of drive source.
Each transmission component in the described lower interface drive system all is connected on the pedestal pedestal, the rotation axis of each transmission component in the described lower interface transmission component is all along the direction setting that parallels with described each transmission component of going up in the interface drive system, curl up respectively on each transmission component in described lower interface drive system shackle line separately by after the corresponding one group of lower interface transmission directive wheel mechanism guiding that is provided with it more respectively with respective drive source output shaft on solid silk wheel construction curl up so that both are rotatedly connected, lower interface transmission directive wheel mechanism all is connected on the pedestal pedestal.
Described bottom of going up four transmission components in the interface drive system can be corresponding one by one with the top of four transmission components in the lower interface transmission component so that the assembly in the upper and lower interface drive system slides continuously in twos, between described pedestal pedestal and quick change case base, be provided with spacing retaining mechanism.
Adopt the beneficial effect of apparatus of the present invention to be: 1, the present invention has compact conformation, in light weight, reliable transmission, quick change efficient advantages of higher.2, application of the present invention can be the micro-wound surgical operation of any aspect, has the potentiality of expanding to other field of surgery.3. mechanism of the present invention has guaranteed that steel wire closed loop transmission total length remains unchanged.Thereby guaranteed that the transmission steel wire can not be elongated or shorten in each mechanism kinematic process, guaranteed the reliable and stable and transmission accuracy of transmission.4, the kind of drive of each degree of freedom of the present invention is a transmission, has guaranteed any change of transmission direction in narrow space, realizes the Compact Design of multiple degrees of freedom quick-changing mechanism.5, silk of the present invention is fixing realizes having realized the Compact Design of the silk fixing and locking mechanism of steel wire transmission by a motion of two degree of freedom in silk wheel locking member same steel wire two ends of locking admittedly with strainer.6, the spacing retaining mechanism of the present invention has two extreme positions, can switch fast between two extreme positions, thereby the requirement of using different instruments in the micro-wound surgical operation operating process can be fully satisfied in the quick mounting or dismounting of realization operation tool.7, the invention provides stable big power output value, can be competent at big operating physical force operation such as gallbladder, operation on heart.
Description of drawings
Fig. 1 is the general assembly sketch map of minimally invasive surgical operation robot compact quick-changing mechanism of the present invention;
Fig. 2 is main body system and quick-changing mechanism connection diagram shown in Figure 1;
Fig. 3 is the quick-changing mechanism shown in Figure 1 degree of freedom sketch map that is connected with the straight line auxiliary structure;
Fig. 4-1 and 4-2 are the stopping means structure and the principle schematic of quick-changing mechanism shown in Figure 1;
Fig. 5 is the separation sketch map of quick-changing mechanism shown in Figure 1;
Fig. 6 is the quick change box part-structure and the degree of freedom sketch map of quick-changing mechanism shown in Figure 1;
Fig. 7 is a quick change box partial interior structural representation shown in Figure 6;
Fig. 8 is a quick change box part drive mechanism sketch map shown in Figure 6;
Fig. 9 goes up interface transmission component decomposing schematic representation in the quick change box shown in Figure 6;
Figure 10 is the pedestal drive mechanism sketch map of quick-changing mechanism shown in Figure 1;
Figure 11 is a lower interface transmission component decomposing schematic representation in the pedestal shown in Figure 10;
Figure 12 is the silk transmission principle sketch map of quick-changing mechanism of the present invention;
The specific embodiment
Below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described further:
Minimally invasive surgical operation robot compact quick-changing mechanism of the present invention as shown in drawings, it comprises by the terminal right lobe transmission component 7-4 of last interface, the terminal left lobe transmission component 7-3 of last interface, the last interface drive system that last interface wrist pitching transmission component 7-2 and last interface rotation transmission component 7-1 form is by the terminal right lobe transmission component 10-8 of lower interface, the terminal left lobe transmission component 10-7 of lower interface, the lower interface drive system that lower interface wrist pitching transmission component 10-6 and lower interface rotation transmission component 10-5 form and by the right lobe driven unit of end 10-4, terminal left lobe driven unit 10-3, the drive system that wrist pitching driven unit 10-2 and rotation transmission driven unit 10-1 form.Described each transmission component of going up in the interface drive system all be vertically mounted on quick change case base 6-5 and and the lid plate 6-4 that is fixedly linked of quick change case base between.The vertical setting of rotation axis and the rotation connecting axle 8-6 of each transmission component in the rotation axis of rotation connecting axle 8-6 and the last interface drive system link to each other by the bearing saddle bore of bearing with quick change case base front end.One end of rotation connecting axle is provided with a groove and silk groove end is arranged between interface wrist pitching transmission component and the last interface rotation transmission component, shackle line after the solid silk of last interface rotation transmission component twines curls up with the silk groove end of rotation connecting axle and links to each other, curl up respectively at the terminal right lobe transmission component of last interface, shackle line on terminal left lobe transmission component of last interface and the last interface wrist pitching transmission component leads by the quick change box transmission directive wheel 7-5 of mechanism of a corresponding setting with it earlier separately, the centre bore that passes the rotation connecting axle then more respectively with instrument wrist 12-1, right lobe 12-3 of tool tip and tool tip left side lobe 12-2 are rotatedly connected, each quick change box transmission directive wheel mechanism is connected between described quick change case base and the lid plate, each driven unit in the described operation tool drive system includes drive source, the vertical setting of rotation axis of each transmission component in the output shaft of drive source and the lower interface transmission component is Gu a silk wheel construction is held tightly on the output shaft of drive source.Each transmission component in the described lower interface drive system all is connected on the pedestal pedestal 3-6, the rotation axis of each transmission component in the described lower interface transmission component is all along the direction setting that parallels with described each transmission component of going up in the interface drive system, curl up respectively on each transmission component in described lower interface drive system shackle line separately by after the corresponding one group of lower interface transmission directive wheel mechanism guiding that is provided with it more respectively with respective drive source output shaft on solid silk wheel construction curl up so that both are rotatedly connected, lower interface transmission directive wheel mechanism all is connected on the pedestal pedestal; Described bottom of going up four transmission components in the interface drive system can plug together so that the assembly in the upper and lower interface drive system slides continuously in twos with the top of four transmission components in the lower interface transmission component is corresponding one by one, is provided with spacing retaining mechanism between described pedestal pedestal and quick change case base.Plug together the direction that parallels of sliding in described pedestal frame upper edge in twos with assembly in the upper and lower interface drive system and have two guide chutes, two guide runners that are arranged on quick change case base bottom can be slidingly matched with described two corresponding plugging together of guide chute, can make pedestal frame and quick change box carry out the lateral register of left and right sides like this.
Described spacing retaining mechanism 3-7 positions and locks in order to the quick change box to the quick change pedestal of packing into, its spacing pedestal 4-2 is fixed in the locating slot of pedestal pedestal 3-6 rear end, limited block 4-1 is rotatably connected in the open slot of spacing pedestal 4-2 by the limited block bearing pin 4-7 that is connected on the spacing pedestal, two fold-type suspension hook 4-3 that are loaded on limited block both sides and symmetric arrangement also are rotatably connected in the open slot of spacing pedestal by the suspension hook bearing pin 4-4 that is connected on the spacing pedestal, the upper end of two extension spring 4-6 of symmetric arrangement is hooked in the pin-and-hole of two fold-type suspension hook 4-3 lower ends respectively and its lower end is hooked on the axis pin of the spring 4-5 that is positioned at limited block 4-1 bottom, when packing quick change box and when making progress cocked limited block into, the top of limited block can be stuck in out in the draw-in groove of quick change box rear end, when pushing limited block downwards, the lower end of limited block finally rests on the described pedestal pedestal.The axis of limited block bearing pin parallels setting with the axis of suspension hook bearing pin.Limited block has two extreme positions: when packing quick change box 5-1 into, the cocked limited block 4-1 that makes progress crosses position Q-Q to extension spring 4-6, and then limited block can be stuck under the effect of spring in the draw-in groove at quick change box rear portion of the quick change pedestal of packing into to realize the positioning and locking to the quick change box; When need are changed operation tool, to push limited block downwards and make spring oppositely cross the Q-Q position, limited block then rests on the described pedestal pedestal under the spring pulling, and this moment, limited block unclamped the quick change box, abdicated quick change box path of travel and installed and removed fast with implementation tool.By the guide chute location, by limited block location and locking, realized that the Fast Installation of instrument is fixed on the fore-and-aft direction on the quick change box left and right directions.Two extreme positions of this spacing retaining mechanism can keep under spring action automatically, do not need in use to continue to push, and have simplified instrument quick change operation sequence, have increased operability.
Described each transmission component of going up the interface drive system includes projection power transmission shaft 9-5, bottom at described projection power transmission shaft is provided with projection, on described projection power transmission shaft, be set with the first lower bearing 9-4 successively, have the outer solid silk wheel 9-3 of axis hole on it, have axis hole and its bottom the interior solid silk wheel 9-2 and the first upper bearing (metal) 9-1 on it for smooth shaft part, it axially is provided with the opening elongated slot to consolidate a sidewall upper edge of the smooth shaft part of wheel in described, the smooth shaft part of described interior solid wheel 9-2 and described outer silk are admittedly taken turns 9-3 axis hole matched in clearance and can be taken turns a latch segment 9-6 by solid silk and hold tightly on described projection power transmission shaft, Gu silk wheel latch segment links to each other by attachment screw with outer solid silk wheel bottom, in described, be provided with a groove on the outer solid silk wheel, the described first upper bearing (metal) 9-1 is fixed in the bearing saddle bore on the lid plate, the described first lower bearing 9-4 is fixed in the bearing saddle bore of quick change case base, the inside and outside solid silk wheel of last interface rotation transmission component is rotatedly connected the terminal right lobe transmission component of last interface with the silk groove end of rotation connecting axle by shackle line, inside and outside solid silk wheel on terminal left lobe transmission component of last interface and the last interface wrist pitching transmission component is respectively by within it, by rightabout curl up shackle line and the instrument wrist of also tensioning in the silk groove of solid silk wheel outward, right lobe of tool tip and tool tip left side lobe are rotatedly connected; Each transmission component in the described lower interface drive system includes groove power transmission shaft 11-1, be provided with at the top of described groove power transmission shaft 11-1 with described projection power transmission shaft bottom and can plug together the guide chute that is slidingly matched to realize, on described groove power transmission shaft 11-1, be with the second upper bearing (metal) 11-2 successively, the lower interface solid silk drive 11-3 and the second lower bearing 11-4, the bottom of the solid silk of described lower interface drive links to each other with solid silk drive latch segment 11-5 by attachment screw, the solid silk of described lower interface drive is provided with a groove, the solid silk of described lower interface drive can be held tightly on described groove power transmission shaft by a solid silk drive latch segment, on described second, lower bearing 11-2,11-4 is separately fixed in the bearing saddle bore of pedestal pedestal 3-6; Solid silk wheel construction on the drive source output shaft comprise have on it axis hole the solid outward silk wheel of drive source, have axis hole and its bottom on it and be solid silk wheel in the drive source of smooth shaft part, in described drive source, be provided with the opening elongated slot vertically on the sidewall of the smooth shaft part of solid silk wheel, in drive source, all have a groove on the outer solid silk wheel, the solid silk wheel of drive source latch segment links to each other by attachment screw with the solid outward silk wheel of drive source bottom, the smooth shaft part of solid silk wheel is with the solid outward silk axle hole matched in clearance of described drive source and can take turns a latch segment by the solid silk of drive source and hold tightly on described drive source output shaft, in the drive source in the described drive source, outer solid silk wheel is respectively by within it, curl up by rightabout in the silk groove of outer solid silk wheel and the shackle line of tensioning is rotatedly connected with the solid drive of the lower interface on each transmission component in the corresponding lower interface drive system.As one embodiment of the present invention, Gu silk wheel latch segment is the split setting with outer solid silk wheel bottom, described solid silk wheel latch segment links to each other by two attachment screws with outer solid silk wheel bottom.Another embodiment of the present invention, side sidewall bottom one side sidewall of described each solid silk wheel latch segment and the outer solid silk wheel is for being wholely set, Gu the opposite side sidewall of silk wheel latch segment links to each other by an attachment screw with the two side that opposite side sidewall relative spacing is provided with and relative spacing is provided with of outer solid wheel bottom.In like manner, between the solid silk of lower interface drive and the solid silk drive latch segment and the solid silk wheel of drive source latch segment with also can adopt above-mentioned embodiment to be connected between solid of drive source is taken turns outward.
Each guide wheel assemblies of described quick change box transmission directive wheel mechanism includes directive wheel rotating shaft 8-3, packing ring 8-4, quick change box directive wheel 8-5.Quick change box directive wheel is sleeved on the described guide wheel shaft, adds packing ring 8-4 respectively in the both sides that are positioned at described quick change box directive wheel, and the top of described guide wheel shaft and bottom are separately fixed on lid plate and the quick change case base.
Lower interface transmission directive wheel mechanism is divided into two groups, and first group of 10-9 of directive wheel mechanism is near the lower interface drive system and be and be arranged vertically, and second group of 10-10 of directive wheel mechanism, 10-11 also are lateral arrangement near drive system.Two groups of directive wheel mechanisms all comprise two guide wheel assemblies and can have identical structure with quick change box transmission directive wheel mechanism and form.
The bottom shape of pedestal pedestal 3-6 can determine according to its parts that need connect, and links to each other then groove can be set to match with slide block on the guide rail and can Ka Si mechanism be set in the front and back end of pedestal pedestal so that the straight line pair is fixed with the shackle line two ends thereon if slide with guide rail.
Specifically the present invention is done to describe in detail more below in conjunction with each accompanying drawing:
Fig. 1, Figure 2 shows that population structure of the present invention and connection diagram.Figure 1 shows that the general assembly sketch map of apparatus of the present invention, Figure 2 shows that apparatus of the present invention in robot system residing position and with the syndeton of main body system.Operation tool is installed on apparatus of the present invention, apparatus of the present invention are installed on the rail plate pedestal 2-2 of main body system slave arm, in the minimally invasive robotic surgery process, operation tool moves on a large scale to adjust and realizes by the slave arm motion of mechanism just, as the degree of freedom W2 that vacillates now to the left, now to the right of operation tool is that rotation by support arm 2-3 realizes, the degree of freedom W1 that rocks back and forth rotates by the fixed point of guide rail 2-2 to realize, and linear telescopic degree of freedom P1 realizes by the guide rail straight line is secondary.The 2-1 of pilot seal mechanism that is connected in the guide rail end can lead and locate operation tool, when carrying out Minimally Invasive Surgery, the sealing ring that operation tool passes the 2-1 of pilot seal mechanism stretches into the inside of human body operation that undergos surgery, and the then stifled miniature incision that is contained in body surface of the 2-1 of pilot seal mechanism is sentenced instrument is played sealing function.
Figure 3 shows that the linear telescopic degree of freedom P1 of apparatus of the present invention and main body system coupling part, also have quick change base part rotary freedom, comprise lower interface transmission rotary freedom R1-R4 and drive system rotary freedom R5, R6.R1 is a rotation transmission rotary freedom, and R2 is a wrist pitching transmission rotary freedom, and R3 is terminal left lobe transmission rotary freedom, and R4 is terminal right lobe transmission rotary freedom.Rail plate 3-9 is installed among the rail plate pedestal 2-2, its front end is the subsidiary drive system of straight line, by servomotor assembly 3-1, potentiometer 3-2 and driving wire wheel are formed, the driving wire wheel is locked on the output shaft of motor, steel wire 3-3 front end is fixed by the 3-4 of Ka Si mechanism that is positioned at pedestal pedestal 3-6 front end, after the driving wire wheel of drive system curls up, again along passing in the silk groove at the rail plate pedestal 2-2 back side, curl up on wire wrapping wheel 3-10, steel wire 3-3 end finally is fixed in the draw-in groove of pedestal pedestal 3-6 rear end, make the steel wire drive mechanism be closed ring like this, motor can drive quick-changing mechanism along rail plate 3-9 rectilinear motion by driving the silk wheel.As shown, spacing retaining mechanism 3-7 is installed in pedestal pedestal 3-6 rear end, and operation tool drive system 3-8 then links to each other with the motor cabinet hole of pedestal pedestal 3-6 by motor cabinet 3-11.R7 is the reel rotary freedom, and R8 is the rotary freedom of servomotor assembly 3-1.
Fig. 4-1 and Fig. 4-2 is depicted as structure and the principle of work and power of spacing retaining mechanism 3-7.Spacing pedestal 4-2 is fixed on quick change pedestal pedestal 3-6 rear end, limited block 4-1 is installed on the spacing pedestal 4-2 by limited block bearing pin 4-7, fold-type suspension hook 4-3 then is installed on the spacing pedestal by suspension hook bearing pin 4-4, the upper end of extension spring 4-6 is hooked in the pin-and-hole of fold-type suspension hook 4-3, and the lower end is hooked on the axis pin of the spring 4-5 that is positioned at limited block 4-1 bottom.In the process of pulling limited block 4-1, axis pin of the spring 4-5 running orbit be to be the circular arc B in the center of circle with 02, the running orbit of fold-type suspension hook is to be the circular arc A in the center of circle with 01, by geometrical principle as can be known, when spring moves to the extended line Q-Q of circle center line connecting 0102, the line of suspension hook pin-and-hole centre point S1 and axis pin of the spring 4-5 centre point S2 is the longest, the amount of tension that is spring reaches maximum, when limited block further make progress/descend to cross the Q-Q line, spring 4-6 just has the trend that contracts and draw, and limited block will make progress/descend motion up to spacing position under spring 4-6 effect.The spacing position that limited block 4-1 moves upward is the quick change box that the dop on top just in time pins the quick change pedestal of packing into, the spacing position that limited block moves downward then is that the bottom touches the pedestal pedestal, abdicate quick change box path of travel simultaneously, realize the quick mounting or dismounting of operation tool.
Figure 5 shows that the overall structure and the connected mode of two big ingredients of minimally invasive surgical operation robot compact quick-changing mechanism of the present invention.Wherein, 5-1 is a quick change box part overall structure sketch map, and 5-2 is a quick change base part overall structure sketch map.As shown in the figure, as limited block 4-1 by lower limit retaining mechanism 3-7, quick change box 5-1 can slip into from the guide chute of quick change pedestal 5-2 along direction P, pulling limited block 4-1 subsequently moves upward, the dop on limited block top is stuck in the draw-in groove of quick change box rear wall to pin the quick change box, at this moment, is located by chute on the quick change box left and right directions, by spacing retaining mechanism location and locking, realized that the Fast Installation of instrument is fixed on the fore-and-aft direction.On the contrary, move downward spacing position when pressing limited block, the quick change box is unclamped on limited block top, and the quick change box can take out from the quick change pedestal fast.
Fig. 6, the internal structure that Figure 7 shows that quick change box 5-1 and four transmission rotary freedoms.The drive mechanism of quick change box part is called the interface drive system, and r1-r4 is meant the rotary freedom of four transmission components of interface drive system, and wherein, r1 is a rotary freedom of going up interface rotation transmission component 7-1; R2 is a rotary freedom of going up interface wrist pitching transmission component 7-2; R3 is a rotary freedom of going up the terminal left lobe transmission component 7-3 of interface; R4 is a rotary freedom of going up the terminal right lobe transmission component 7-4 of interface.Four go up the interface transmission component respectively by bearings in the quick change box, following side bearing is contained in the bearing block of quick change case base 6-5, last side bearing then is contained in the bearing block of cover plate 6-4.As shown in Figure 6, bearing (ball) cover 6-3 is equipped with in the bearing block both sides of quick change case base 6-5 front end, in order to the bearing that supports rotation coupling part 6-2 is positioned.Tool tip 6-1 links to each other with the rotation coupling part by elongated axis of rotation 6-6.As shown in Figure 7,3 groups of identical quick change box transmission directive wheel 7-5 of mechanism of structure lead to shackle line.
The last interface drive system that Figure 8 shows that quick change box part is formed.Steel wire rope directly curls up on the rotation connecting axle after the solid silk of last interface rotation transmission component 7-1 twines, and by the steel wire transmission, the r1 degree of freedom will be converted into rotation degree of freedom r5.Steel wire rope after the solid silk of other three transmission component 7-2,7-3,7-4 twines links to each other with instrument wrist, tool tip respectively after by the 3 groups of quick change box transmission directive wheel 7-5 of mechanism guiding, in order to other three degree of freedom of realization operation tool.The quick change box transmission directive wheel 7-5 of mechanism is made up of directive wheel rotating shaft 8-3, copper washer 8-4, quick change box directive wheel 8-5.Rotation connecting axle 8-6 is equipped with bearing 8-2 in both sides, and an end of rotation connecting axle is provided with a groove.The bearing outside is positioned by bearing (ball) cover 6-3, and the inboard is then by stop sleeve 8-1 location, stop sleeve 8-1 by dowel fixes on rotation connecting axle 8-6.
The structure that Figure 9 shows that the interface transmission component is formed.The first lower bearing 9-4, solid silk wheel construction, the first upper bearing (metal) 9-1 pack among the projection power transmission shaft 9-5 successively, in the silk groove of inside and outside solid silk wheel, curl up and tensioning transmission steel wire respectively then by rightabout, tighten outer solid silk wheel latch segment 9-6 at last, transmission component is held tightly on the projection power transmission shaft.Wherein, Gu the silk wheel construction form by interior solid silk wheel 9-2, an outer solid silk wheel 9-3 fit.An interior solid silk wheel 9-2 optical axis partly is processed with 4 opening elongated slots, is matched in clearance with the outer wheel of silk admittedly 9-3 endoporus.Outer solid silk wheel 9-3 links to each other by screw with solid silk wheel latch segment 9-6 two parts.Owing to be processed with the opening elongated slot, when screwing solid silk wheel latch segment screw, interior solid silk wheel optical axis section can be held power transmission shaft tightly down latch segment and the crowded of outer solid silk wheel, realizes solid and tensioning of a drive system, at this, the motion of two degree of freedom in latch segment same steel wire two ends of locking.Before the mechanism locking, interior solid silk wheel and the synchronous rotation of outer solid silk wheel can realize the integral body adjustment of a drive system, the degree of tightness adjustment that can realize the transmission steel wire that relatively rotates of interior solid silk wheel and outer solid silk wheel.The locking of same latch segment can realize the adjustment and the tensioning of entire mechanism, not only be beneficial to and dwindle mechanism's overall dimensions, can also reliably realize the tensioning of closed loop steel wire rope transmission, guarantee that the silk drive system is in tensioning state at work all the time, can carry out simultaneously the adjustment of closed loop steel wire rope transmission easily, and then realize adjustment and the calibration at work of silk drive system, guarantee transmission accuracy.
Figure 10 shows that quick change base interior drive mechanism sketch map.The drive source of operation tool drive system 3-8 comprises servo drive motor 10-13 and the harmonic speed reducer 10-12 that links to each other with servo drive motor, Gu the silk wheel construction is held tightly on the output shaft of harmonic speed reducer, the output shaft front end is supported on the solid silk wheel supporting seat 3-5.Drive system is made up of rotation driven unit 10-1, wrist pitching driven unit 10-2, terminal left lobe driven unit 10-3, terminal right lobe driven unit 10-4.The shackle line that is wrapped on the solid silk wheel construction of rotation driven unit 10-1 leads through lower interface transmission directive wheel 10-10 earlier, curl up then on the driving wire wheel of lower interface rotation transmission component 10-5, by adjusting solid silk wheel construction the steel wire tensioning, the driving force of so just having realized spinning motion is by the transmission of drive system to the lower interface transmission component at last.In the same way, the driving force that can realize the wrist elevating movement respectively is by the transmission of wrist pitching driven unit 10-2 to lower interface wrist pitching transmission component 10-6, and the driving force of tool tip motion is by the left and right lobe driven unit of end 10-3, the 10-4 transmission to terminal left and right lobe transmission component 10-7,10-8 of lower interface.
The structure that Figure 11 shows that the lower interface transmission component in the quick change pedestal is formed.The solid silk of the second upper bearing (metal) 11-2, lower interface drive 11-3, second a lower bearing 11-4 are packed among the groove power transmission shaft 11-1 successively, curl up by rightabout in the silk groove of the upper and lower both sides of lower interface solid silk drive 11-3 through the driven unit winding and by the steel wire after the directive wheel guiding, by tightening solid drive latch segment 11-5 the lower interface transmission component is held tightly on groove power transmission shaft 11-1 at last.After the quick change box slips into the quick change pedestal fast, the projection of interface projection power transmission shaft 9-5 slips in the guide chute of quick change pedestal lower interface groove power transmission shaft 11-1 and matched in clearance just on the quick change box, has so just realized the stable butt joint and the transmission of power of upper and lower power interface.
Figure 12 shows that the silk transmission principle of operation tool system.The transmission process of rotation degree of freedom: operation tool drive system 3-8 output drive strength, the steel wire rope that is wrapped on the rotation driven unit 10-1 rotates through curling up on the solid silk of the lower interface drive 11-3 at lower interface rotation transmission component 10-5 after the lower interface transmission directive wheel 10-10 guiding and driving whole transmission component, by docking transmission of power to last interface rotation transmission component 7-1 of groove power transmission shaft 11-1 and projection power transmission shaft 9-5, the rotation that will go up interface rotation transmission component 7-1 by the silk transmission is converted into rotatablely moving of rotation connecting axle 8-6 again.In like manner, the transmission process of wrist pitching degree of freedom: drive system 3-8 output drive strength, its wrist pitching driven unit 10-2 utilizes the steel wire transmission and after lower interface transmission directive wheel 10-11 guiding rotary power is passed to lower interface wrist pitching transmission component 10-6, give last interface wrist pitching transmission component 7-2 by butt joint with transmission of power then, utilize steel wire 12-4 transmission again and, finally realize the pitching degree of freedom of wrist 12-1 through quick change box guiding mechanism 7-5 guiding.The transmission process of terminal left lobe: drive system 3-8 output drive strength, its terminal left lobe driven unit 10-3 utilizes the steel wire transmission and through the guiding of lower interface transmission directive wheel 10-9, drive the terminal left lobe transmission component 10-7 rotation of lower interface, give last interface terminal left lobe transmission component 7-3 transmission of power by butt joint, utilize the steel wire transmission again and, finally realize the rotary freedom of terminal left lobe 12-2 through the quick change box transmission directive wheel 7-5 of mechanism guiding.Terminal right lobe is identical with the transmission principle of terminal left lobe.
Claims (5)
1. minimally invasive surgical operation robot compact quick-changing mechanism, it is characterized in that: it comprises by the terminal right lobe transmission component of last interface, the terminal left lobe transmission component of last interface, the last interface drive system that last interface wrist pitching transmission component and last interface rotation transmission component are formed, by the terminal right lobe transmission component of lower interface, the terminal left lobe transmission component of lower interface, the lower interface drive system that lower interface wrist pitching transmission component and lower interface rotation transmission component are formed and by the right lobe driven unit of end, terminal left lobe driven unit, the operation tool drive system that wrist pitching driven unit and rotation transmission driven unit are formed, described each transmission component of going up in the interface drive system be vertically set on the quick change case base and and the lid plate that is fixedly linked of quick change case base between, its axis along with last interface transmission component in the vertically disposed rotation connecting axle of rotation axis of each transmission component link to each other by the bearing saddle bore of bearing with quick change case base front end, be provided with a groove and its groove end is arranged between interface wrist pitching transmission component and the last interface rotation transmission component at an end of described rotation connecting axle, shackle line after the solid silk of last interface rotation transmission component twines curls up with the silk groove end of rotation connecting axle and links to each other, curl up respectively at the terminal right lobe transmission component of last interface, shackle line on terminal left lobe transmission component of last interface and the last interface wrist pitching transmission component leads by the quick change box transmission directive wheel mechanism of a corresponding setting with it earlier separately, the centre bore that passes the rotation connecting axle then more respectively with the instrument wrist, right lobe of tool tip and tool tip left side lobe are rotatedly connected, each quick change box transmission directive wheel mechanism is connected between described quick change case base and the lid plate, each driven unit in the described operation tool drive system includes drive source, the vertical setting of rotation axis of each transmission component in the output shaft of drive source and the lower interface transmission component is Gu a silk wheel construction is held tightly on the output shaft of drive source;
Each transmission component in the described lower interface drive system all is connected on the pedestal pedestal, the rotation axis of each transmission component in the described lower interface transmission component is all along the direction setting that parallels with described each transmission component of going up in the interface drive system, curl up shackle line on each transmission component in described lower interface drive system separately by curling up respectively after the corresponding one group of lower interface transmission directive wheel mechanism guiding that is provided with it on the solid silk wheel construction on the output shaft of respective drive source so that both are rotatedly connected, lower interface transmission directive wheel mechanism all is connected on the pedestal pedestal again;
Described bottom of going up four transmission components in the interface drive system can plug together so that the assembly in the upper and lower interface drive system slides continuously in twos with the top of four transmission components in the lower interface transmission component is corresponding one by one, is provided with spacing retaining mechanism between described pedestal pedestal and quick change case base.
2. minimally invasive surgical operation robot compact quick-changing mechanism according to claim 1, it is characterized in that: on described pedestal frame along with upper and lower interface drive system in assembly plug together the direction parallel of sliding in twos and have two guide chutes, two guide runners that are arranged on quick change case base two bottom sides can be slidingly matched with described two corresponding plugging together of guide chute.
3. minimally invasive surgical operation robot compact quick-changing mechanism according to claim 1, it is characterized in that: described spacing retaining mechanism (3-7) comprises spacing pedestal (4-2), spacing pedestal (4-2) is fixed in the locating slot of pedestal pedestal (3-6) rear end, limited block (4-1) is rotatably connected in the open slot of spacing pedestal (4-2) by the limited block bearing pin (4-7) that is connected on the spacing pedestal, two the fold-type suspension hooks (4-3) that are loaded on limited block both sides and symmetric arrangement are by being connected suspension hook bearing pin (4-4) on the spacing pedestal and being rotatably connected in the open slot of spacing pedestal and the upper end of two extension springs (4-6) of symmetric arrangement being hooked on respectively in the pin-and-hole of two fold-type suspension hooks (4-3) lower end, two extension spring lower ends are hooked on the axis pin of the spring (4-5) that is positioned at limited block (4-1) bottom separately, the dop on limited block top can compress mutually with the draw-in groove that is arranged on quick change case base rear end or unclamp cooperation, and the axis of limited block bearing pin parallels setting with the axis of suspension hook bearing pin.
4. minimally invasive surgical operation robot compact quick-changing mechanism according to claim 1, it is characterized in that: described each transmission component of going up the interface drive system includes projection power transmission shaft (9-5), bottom at described projection power transmission shaft is provided with projection, on described projection power transmission shaft, be set with first lower bearing (9-4) successively, have the outer solid silk wheel (9-3) of axis hole on it, have on it axis hole and its bottom for smooth shaft part interior solid silk wheel (9-2) and first upper bearing (metal) (9-1), it axially is provided with the opening elongated slot to consolidate a sidewall upper edge of the smooth shaft part of wheel in described, Gu silk wheel latch segment links to each other by attachment screw with outer solid silk wheel bottom, the smooth shaft part of described interior solid wheel (9-2) and described outer silk are admittedly taken turns (9-3) axis hole matched in clearance and can be taken turns a latch segment (9-6) by solid silk and hold tightly on described projection power transmission shaft, in described, be provided with a groove on the outer solid silk wheel, described first upper bearing (metal) (9-1) is fixed in the bearing saddle bore on the lid plate, described first lower bearing (9-4) is fixed in the bearing saddle bore of quick change case base, in the last interface rotation transmission component, outer solid silk wheel is rotatedly connected the terminal right lobe transmission component of last interface with the silk groove end of rotation connecting axle by shackle line, in on terminal left lobe transmission component of last interface and the last interface wrist pitching transmission component, outer solid silk wheel is respectively by within it, by rightabout curl up shackle line and the instrument wrist of also tensioning in the silk groove of solid silk wheel outward, right lobe of tool tip and tool tip left side lobe are rotatedly connected; Each transmission component in the described lower interface drive system includes groove power transmission shaft (11-1), be provided with at the top of described groove power transmission shaft (11-1) with described projection power transmission shaft bottom and can plug together the guide chute that is slidingly matched to realize, on described groove power transmission shaft (11-1), be with second upper bearing (metal) (11-2) successively, lower interface solid silk drive (11-3) and second lower bearing (11-4), the bottom of the solid silk of described lower interface drive links to each other with solid silk drive latch segment (11-5) by attachment screw, the solid silk of described lower interface drive is provided with a groove, the solid silk of described lower interface drive can be held tightly on described groove power transmission shaft by a solid silk drive latch segment, on described second, lower bearing (11-2,11-4) be separately fixed in the bearing saddle bore of pedestal pedestal (3-6); Solid silk wheel construction on the drive source output shaft comprises the solid silk wheel of the drive source that has axis hole on it outward, have axis hole and its bottom on it and be solid silk wheel in the drive source of smooth shaft part, in described drive source, be provided with the opening elongated slot vertically on the sidewall of the smooth shaft part of solid silk wheel, in drive source, all have a groove on the outer solid silk wheel, the solid silk wheel of drive source latch segment links to each other by attachment screw with the solid outward silk wheel of drive source bottom, the smooth shaft part of solid silk wheel is with the solid outward silk axle hole matched in clearance of described drive source and can take turns a latch segment by the solid silk of drive source and hold tightly on described drive source output shaft, in the drive source in the described drive source, outer solid silk wheel is respectively by within it, curl up by rightabout in the silk groove of outer solid silk wheel and the shackle line of tensioning is rotatedly connected with the solid drive of the lower interface on each transmission component in the corresponding lower interface drive system.
5. minimally invasive surgical operation robot compact quick-changing mechanism according to claim 1, it is characterized in that: described each quick change box transmission directive wheel mechanism includes guide wheel shaft, quick change box transmission directive wheel is sleeved on the described guide wheel shaft, end face and bottom surface at described quick change box transmission directive wheel add packing ring respectively, and the top of described guide wheel shaft and bottom are separately fixed on described lid plate and the quick change case base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100260109A CN102119872B (en) | 2011-01-10 | 2011-01-10 | Compact quick-change mechanism of robot for minimally invasive surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100260109A CN102119872B (en) | 2011-01-10 | 2011-01-10 | Compact quick-change mechanism of robot for minimally invasive surgery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102119872A true CN102119872A (en) | 2011-07-13 |
| CN102119872B CN102119872B (en) | 2012-11-07 |
Family
ID=44248601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011100260109A Active CN102119872B (en) | 2011-01-10 | 2011-01-10 | Compact quick-change mechanism of robot for minimally invasive surgery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102119872B (en) |
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102579137A (en) * | 2012-03-28 | 2012-07-18 | 广西大学 | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally |
| CN103251458A (en) * | 2013-05-09 | 2013-08-21 | 天津工业大学 | Wire transmission four-freedom-degree surgical instrument for minimally invasive surgery robot |
| CN103340687A (en) * | 2013-07-29 | 2013-10-09 | 吉林大学 | Decoupled quick change surgical device for robot assisted minimally invasive surgery |
| CN104490429A (en) * | 2014-12-29 | 2015-04-08 | 天津工业大学 | Instrument with function of quickly replacing end executor for minimally invasive surgery |
| CN104622575A (en) * | 2014-12-29 | 2015-05-20 | 天津大学 | Main operation hand for minimally invasive neurosurgery robot on basis of wire rope gearing |
| CN104799891A (en) * | 2015-04-08 | 2015-07-29 | 天津大学 | Instrument for robot-assisted micro-invasive surgery |
| CN105012022A (en) * | 2015-08-19 | 2015-11-04 | 哈尔滨工业大学 | Integrated surgical instrument drive device with decoupling function |
| CN105012023A (en) * | 2015-08-19 | 2015-11-04 | 哈尔滨工业大学 | Instrument holding mechanical arm used for minimally-invasive robot |
| CN105012024A (en) * | 2015-08-19 | 2015-11-04 | 哈尔滨工业大学 | Endoscope clamping driving device |
| CN105286999A (en) * | 2015-10-15 | 2016-02-03 | 天津大学 | Minimally invasive surgery instrument with tail end self-rotation function |
| CN105286989A (en) * | 2015-10-15 | 2016-02-03 | 天津大学 | Double-electrode energy tool for minimally invasive surgery robot |
| CN105380749A (en) * | 2015-12-17 | 2016-03-09 | 天津工业大学 | Steel wire rope transmission universal mechanism used for surgical driller |
| CN105796178A (en) * | 2016-05-11 | 2016-07-27 | 天津大学 | Tail end swinging joint driving mechanism |
| CN105997254A (en) * | 2016-07-08 | 2016-10-12 | 天津大学 | Quick changing device for minimally invasive surgery instruments |
| CN106102642A (en) * | 2014-03-17 | 2016-11-09 | 直观外科手术操作公司 | Surgical cannulae installed part and relevant system and method |
| CN106344161A (en) * | 2016-11-22 | 2017-01-25 | 哈尔滨工业大学 | End-of-arm tooling quick replacing mechanism for minimally-invasive spine surgery robot |
| WO2018040707A1 (en) * | 2016-08-31 | 2018-03-08 | 微创（上海）医疗机器人有限公司 | Instrument set and operation instrument |
| CN108143496A (en) * | 2018-02-05 | 2018-06-12 | 刘陈邦 | A kind of surgical instrument mounting assembly and operating robot |
| JP2018517483A (en) * | 2015-06-03 | 2018-07-05 | コヴィディエン リミテッド パートナーシップ | Offset instrument drive |
| CN108420537A (en) * | 2018-03-09 | 2018-08-21 | 深圳市精锋医疗科技有限公司 | Motion arm with rotational end, from operation equipment and operating robot |
| CN108618845A (en) * | 2017-03-20 | 2018-10-09 | 新加坡国立大学 | A kind of cranial surgery micro-wound operation robot in parallel being securable to skull |
| CN109009437A (en) * | 2018-09-08 | 2018-12-18 | 北京德康健医药科技有限公司 | A kind of surgical navigational robot end connection method |
| CN109843207A (en) * | 2016-08-24 | 2019-06-04 | 直观外科手术操作公司 | Computer assisted remote operation surgical system and method |
| EP3508311A4 (en) * | 2016-08-31 | 2019-08-28 | Microport (Shanghai) Medbot Co., Ltd. | Transmission mechanism and surgical instrument |
| CN111347395A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | Multi-end actuating mechanism quick-change mechanical arm of nuclear emergency treatment robot |
| CN113397654A (en) * | 2021-05-06 | 2021-09-17 | 武汉联影智融医疗科技有限公司 | Synchronous locking structure, minimally invasive surgical instrument and control method of minimally invasive surgical instrument |
| CN113491580A (en) * | 2020-03-20 | 2021-10-12 | 上海微创医疗机器人（集团）股份有限公司 | Wire transmission structure, surgical instrument and surgical robot |
| CN113499139A (en) * | 2021-04-01 | 2021-10-15 | 杭州键嘉机器人有限公司 | Quick-change flange of orthopedic surgery robot |
| CN113635298A (en) * | 2021-07-14 | 2021-11-12 | 上海快点机器人科技有限公司 | Intelligent safety module for industrial robot tool quick replacement device and use method thereof |
| CN113693728A (en) * | 2021-08-04 | 2021-11-26 | 常州唯精医疗机器人有限公司 | Endoscope transmission box and minimally invasive surgery robot |
| CN113712666A (en) * | 2021-08-03 | 2021-11-30 | 复旦大学 | Flexible continuum surgical robot |
| CN113729952A (en) * | 2021-10-12 | 2021-12-03 | 中南大学 | Actuator quick-change driving mechanism of surgical robot |
| CN113974843A (en) * | 2021-10-12 | 2022-01-28 | 浙江理工大学 | Active three-freedom-degree surgical instrument |
| WO2022188476A1 (en) * | 2021-03-10 | 2022-09-15 | 极限人工智能有限公司 | Steel wire and transmission shaft connecting structure, surgical robot, and method |
| CN115319786A (en) * | 2022-10-11 | 2022-11-11 | 国网瑞嘉(天津)智能机器人有限公司 | Quick change device for end tool of live working robot |
| WO2023179063A1 (en) * | 2022-03-24 | 2023-09-28 | 敏捷医疗科技(苏州)有限公司 | Transmission system for surgical robot, and master manipulator |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110368092B (en) * | 2019-08-15 | 2024-02-09 | 上海微创医疗机器人（集团）股份有限公司 | Surgical robot and surgical instrument |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090088775A1 (en) * | 2007-09-30 | 2009-04-02 | Nitish Swarup | Methods of user interface with alternate tool mode for robotic surgical tools |
| EP2135577A2 (en) * | 1998-12-08 | 2009-12-23 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
| CN101627921A (en) * | 2009-08-05 | 2010-01-20 | 天津大学 | Rapid replacing interface for assisted minimally invasive surgical operation robot |
-
2011
- 2011-01-10 CN CN2011100260109A patent/CN102119872B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2135577A2 (en) * | 1998-12-08 | 2009-12-23 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
| US20090088775A1 (en) * | 2007-09-30 | 2009-04-02 | Nitish Swarup | Methods of user interface with alternate tool mode for robotic surgical tools |
| CN101627921A (en) * | 2009-08-05 | 2010-01-20 | 天津大学 | Rapid replacing interface for assisted minimally invasive surgical operation robot |
Cited By (60)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102579137A (en) * | 2012-03-28 | 2012-07-18 | 广西大学 | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally |
| CN103251458A (en) * | 2013-05-09 | 2013-08-21 | 天津工业大学 | Wire transmission four-freedom-degree surgical instrument for minimally invasive surgery robot |
| CN103340687A (en) * | 2013-07-29 | 2013-10-09 | 吉林大学 | Decoupled quick change surgical device for robot assisted minimally invasive surgery |
| CN103340687B (en) * | 2013-07-29 | 2015-06-10 | 吉林大学 | Decoupled quick change surgical device for robot assisted minimally invasive surgery |
| US10456208B2 (en) | 2014-03-17 | 2019-10-29 | Intuitive Surgical Operations, Inc. | Surgical cannula mounts and related systems and methods |
| CN106102642A (en) * | 2014-03-17 | 2016-11-09 | 直观外科手术操作公司 | Surgical cannulae installed part and relevant system and method |
| US11678945B2 (en) | 2014-03-17 | 2023-06-20 | Intuitive Surgical Operations, Inc. | Surgical cannula mounts and related systems and methods |
| US11197729B2 (en) | 2014-03-17 | 2021-12-14 | Intuitive Surgical Operations, Inc. | Surgical cannula mounts and related systems and methods |
| CN106102642B (en) * | 2014-03-17 | 2020-03-31 | 直观外科手术操作公司 | Surgical cannula mounts and related systems and methods |
| CN104622575A (en) * | 2014-12-29 | 2015-05-20 | 天津大学 | Main operation hand for minimally invasive neurosurgery robot on basis of wire rope gearing |
| CN104490429B (en) * | 2014-12-29 | 2018-01-23 | 天津工业大学 | Micro-wound surgical operation apparatus with fast changeable end effector function |
| CN104490429A (en) * | 2014-12-29 | 2015-04-08 | 天津工业大学 | Instrument with function of quickly replacing end executor for minimally invasive surgery |
| CN104799891A (en) * | 2015-04-08 | 2015-07-29 | 天津大学 | Instrument for robot-assisted micro-invasive surgery |
| US11432891B2 (en) | 2015-06-03 | 2022-09-06 | Covidien Lp | Offset instrument drive unit |
| JP2018517483A (en) * | 2015-06-03 | 2018-07-05 | コヴィディエン リミテッド パートナーシップ | Offset instrument drive |
| US10959788B2 (en) | 2015-06-03 | 2021-03-30 | Covidien Lp | Offset instrument drive unit |
| CN105012022B (en) * | 2015-08-19 | 2017-05-24 | 哈尔滨工业大学 | Integrated surgical instrument drive device with decoupling function |
| CN105012024A (en) * | 2015-08-19 | 2015-11-04 | 哈尔滨工业大学 | Endoscope clamping driving device |
| CN105012022A (en) * | 2015-08-19 | 2015-11-04 | 哈尔滨工业大学 | Integrated surgical instrument drive device with decoupling function |
| CN105012023A (en) * | 2015-08-19 | 2015-11-04 | 哈尔滨工业大学 | Instrument holding mechanical arm used for minimally-invasive robot |
| CN105012024B (en) * | 2015-08-19 | 2017-05-24 | 哈尔滨工业大学 | Endoscope clamping driving device |
| CN105286989B (en) * | 2015-10-15 | 2017-08-15 | 天津大学 | A kind of micro-wound operation robot bipolar energy instrument |
| CN105286989A (en) * | 2015-10-15 | 2016-02-03 | 天津大学 | Double-electrode energy tool for minimally invasive surgery robot |
| CN105286999B (en) * | 2015-10-15 | 2017-09-29 | 天津大学 | Minimally Invasive Surgery apparatus with end rotation function |
| CN105286999A (en) * | 2015-10-15 | 2016-02-03 | 天津大学 | Minimally invasive surgery instrument with tail end self-rotation function |
| CN105380749B (en) * | 2015-12-17 | 2017-08-22 | 天津工业大学 | A kind of wire rope gearing omnidirectional mechanism for surgical drill |
| CN105380749A (en) * | 2015-12-17 | 2016-03-09 | 天津工业大学 | Steel wire rope transmission universal mechanism used for surgical driller |
| CN105796178A (en) * | 2016-05-11 | 2016-07-27 | 天津大学 | Tail end swinging joint driving mechanism |
| CN105796178B (en) * | 2016-05-11 | 2018-04-17 | 天津大学 | End swinging joint driving mechanism |
| CN105997254A (en) * | 2016-07-08 | 2016-10-12 | 天津大学 | Quick changing device for minimally invasive surgery instruments |
| CN109843207A (en) * | 2016-08-24 | 2019-06-04 | 直观外科手术操作公司 | Computer assisted remote operation surgical system and method |
| US11589938B2 (en) | 2016-08-24 | 2023-02-28 | Intuitive Surgical Operations, Inc. | Computer-assisted tele-operated surgery systems and methods |
| EP3508311A4 (en) * | 2016-08-31 | 2019-08-28 | Microport (Shanghai) Medbot Co., Ltd. | Transmission mechanism and surgical instrument |
| JP2019532783A (en) * | 2016-08-31 | 2019-11-14 | マイクロポート（シャンハイ）メドボット カンパニー，リミティッド | Transmission mechanism and surgical instrument |
| WO2018040707A1 (en) * | 2016-08-31 | 2018-03-08 | 微创（上海）医疗机器人有限公司 | Instrument set and operation instrument |
| CN106344161B (en) * | 2016-11-22 | 2018-07-06 | 哈尔滨工业大学 | A kind of minimally invasive spine surgical robot end-of-arm tooling quick-changing mechanism |
| CN106344161A (en) * | 2016-11-22 | 2017-01-25 | 哈尔滨工业大学 | End-of-arm tooling quick replacing mechanism for minimally-invasive spine surgery robot |
| CN108618845A (en) * | 2017-03-20 | 2018-10-09 | 新加坡国立大学 | A kind of cranial surgery micro-wound operation robot in parallel being securable to skull |
| CN108143496B (en) * | 2018-02-05 | 2019-02-19 | 珠海中信大有科技有限公司 | A kind of surgical instrument mounting assembly and operating robot |
| CN108143496A (en) * | 2018-02-05 | 2018-06-12 | 刘陈邦 | A kind of surgical instrument mounting assembly and operating robot |
| CN108420537A (en) * | 2018-03-09 | 2018-08-21 | 深圳市精锋医疗科技有限公司 | Motion arm with rotational end, from operation equipment and operating robot |
| CN109009437A (en) * | 2018-09-08 | 2018-12-18 | 北京德康健医药科技有限公司 | A kind of surgical navigational robot end connection method |
| CN111347395A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | Multi-end actuating mechanism quick-change mechanical arm of nuclear emergency treatment robot |
| CN113491580B (en) * | 2020-03-20 | 2022-05-31 | 上海微创医疗机器人（集团）股份有限公司 | Wire transmission structure, surgical instrument and surgical robot |
| CN113491580A (en) * | 2020-03-20 | 2021-10-12 | 上海微创医疗机器人（集团）股份有限公司 | Wire transmission structure, surgical instrument and surgical robot |
| WO2022188476A1 (en) * | 2021-03-10 | 2022-09-15 | 极限人工智能有限公司 | Steel wire and transmission shaft connecting structure, surgical robot, and method |
| CN113499139B (en) * | 2021-04-01 | 2022-08-23 | 杭州键嘉机器人有限公司 | Quick-change flange of orthopedic surgery robot |
| CN113499139A (en) * | 2021-04-01 | 2021-10-15 | 杭州键嘉机器人有限公司 | Quick-change flange of orthopedic surgery robot |
| CN113397654B (en) * | 2021-05-06 | 2022-04-26 | 武汉联影智融医疗科技有限公司 | Synchronous locking structure, minimally invasive surgical instrument and control method of minimally invasive surgical instrument |
| CN113397654A (en) * | 2021-05-06 | 2021-09-17 | 武汉联影智融医疗科技有限公司 | Synchronous locking structure, minimally invasive surgical instrument and control method of minimally invasive surgical instrument |
| CN113635298A (en) * | 2021-07-14 | 2021-11-12 | 上海快点机器人科技有限公司 | Intelligent safety module for industrial robot tool quick replacement device and use method thereof |
| CN113635298B (en) * | 2021-07-14 | 2024-02-27 | 上海快点机器人科技有限公司 | Intelligent safety module for industrial robot tool quick-change device and use method thereof |
| CN113712666B (en) * | 2021-08-03 | 2023-10-27 | 复旦大学 | Flexible continuum surgical robot |
| CN113712666A (en) * | 2021-08-03 | 2021-11-30 | 复旦大学 | Flexible continuum surgical robot |
| CN113693728A (en) * | 2021-08-04 | 2021-11-26 | 常州唯精医疗机器人有限公司 | Endoscope transmission box and minimally invasive surgery robot |
| CN113974843A (en) * | 2021-10-12 | 2022-01-28 | 浙江理工大学 | Active three-freedom-degree surgical instrument |
| CN113729952A (en) * | 2021-10-12 | 2021-12-03 | 中南大学 | Actuator quick-change driving mechanism of surgical robot |
| WO2023179063A1 (en) * | 2022-03-24 | 2023-09-28 | 敏捷医疗科技(苏州)有限公司 | Transmission system for surgical robot, and master manipulator |
| CN115319786A (en) * | 2022-10-11 | 2022-11-11 | 国网瑞嘉(天津)智能机器人有限公司 | Quick change device for end tool of live working robot |
| CN115319786B (en) * | 2022-10-11 | 2023-03-24 | 国网瑞嘉(天津)智能机器人有限公司 | Quick change device for end tool of live working robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102119872B (en) | 2012-11-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102119872B (en) | Compact quick-change mechanism of robot for minimally invasive surgery | |
| CN106175934B (en) | Operating robot and its mechanical arm | |
| CN106725650B (en) | Be used for quick change mechanism of minimally invasive surgery robot | |
| CN105147393A (en) | Minimally invasive robot mirror-holding mechanical arm | |
| CN105361951B (en) | A kind of minimally invasive abdominal operation Chi Jing robots | |
| CN106691594B (en) | Surgical instrument for minimally invasive surgical robot | |
| CN107714182B (en) | A kind of needle holder being applied to surgery Minimally robot | |
| CN105287002A (en) | Flexible multi-joint operation micro instrument for robot-assisted minimally invasive surgery | |
| CN101732093A (en) | Micromanipulator for enterocoelia minimally invasive surgery | |
| CN110368092A (en) | Operating robot and surgical instrument | |
| CN101224574A (en) | Active-passive mixed-connected robot with nine degrees of freedom | |
| CN114433272B (en) | Inspection test tube shaking device capable of simulating manual operation | |
| CN108324376B (en) | Operating robot and its mechanical arm | |
| CN205745909U (en) | Expansible combination type three axle is combined dynamic photographic attachment | |
| CN106175851A (en) | A kind of single-hole laparoscopic surgery system based on flexible arm body | |
| CN101411632A (en) | Robot active bracket for assisting minimally invasive surgical operation | |
| CN107411695A (en) | A kind of digestive endoscopy structure with mechanical arm and digestive endoscopy platform | |
| CN105877969A (en) | Shoulder joint three-freedom-degree linkage mechanism for exoskeletal rehabilitation robot | |
| CN109350446A (en) | Master based on electromyography signal passively combines upper-limbs rehabilitation training robot system | |
| CN205268284U (en) | Abdominal cavity minimal access surgery holds mirror robot | |
| CN209153974U (en) | A kind of surgical instrument with running fix joint for single hole operating robot | |
| CN108524002A (en) | A kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint | |
| CN208808649U (en) | A kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint | |
| CN108420533A (en) | With mobile and rotation positioning joint single hole operating robot integral layout structure | |
| CN108175455A (en) | It is a kind of that there is mobile and rotation positioning joint single hole surgical instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220902 Address after: 264211 no.566-1 Qishan Road, caomiaozi Town, Lingang Economic and Technological Development Zone, Weihai City, Shandong Province Patentee after: SHANDONG WEIGAO OPERATION ROBOT CO.,LTD. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University Patentee before: Tianjin University Asset Management Co.,Ltd. Effective date of registration: 20220902 Address after: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee after: Tianjin University Patentee after: Tianjin University Asset Management Co.,Ltd. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University |