CN103919610B - The armed arm mechanism of multiple degrees of freedom micro-wound surgical operation - Google Patents
The armed arm mechanism of multiple degrees of freedom micro-wound surgical operation Download PDFInfo
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- CN103919610B CN103919610B CN201410172288.0A CN201410172288A CN103919610B CN 103919610 B CN103919610 B CN 103919610B CN 201410172288 A CN201410172288 A CN 201410172288A CN 103919610 B CN103919610 B CN 103919610B
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Abstract
The object of the present invention is to provide the armed arm mechanism of multiple degrees of freedom micro-wound surgical operation, in traversing carriage mechanism, base plate is provided with brake universal wheel and driving wheel.Realize base and leading screw rotation respectively by the driving of two motors and the engaged transmission of gear, make the slide block of arm rotary joint realize sliding motion along the chute track of leading screw and column by the screw-driven of leading screw upper end; Motor realizes the rotation of forearm by V belt translation; Motor realizes the rotary freedom of wrist around main shaft by V belt translation; Motor realizes the swing of sliding track mechanism along arc rack by the internal messing of wheel and rack, and another motor is connected with lead screw by shaft coupling, and seesawing of connecting plate is pointed in rotarily driving of lead screw.The advantage such as the present invention has in stable condition, accurate positioning, dexterity is good, working range is large, traversing carriage mechanism is similar to total rotary freedom of people's waist and the lifting degree of freedom of screw part in addition.
Description
Technical field
What the present invention relates to is a kind of operation mechanism, specifically clamps the mechanism of operating theater instruments.
Background technology
Micro-wound surgical operation refers to the guiding of doctor by means of various visual pattern, by operating theater instruments along operation pathway planned in advance, sends in patient body carry out observing or treating through minimal incision *, thus farthest reduces wound, palliates the agonizing sufferings.The utilization of minimally invasive surgical operation robot solves in traditional operation process shortcomings such as there is doctor's labor intensity is large, operation precision is low, poor stability, more improve the quality of operation, the defect of traditional minimally invasive surgery can be overcome, the scope of Minimally Invasive Surgery can be widened, can Surgery Simulation be carried out, network technology can also be utilized to carry out remote operation etc.But current many surgical robots directly utilize industrial robot, the reliability of its system, safety, operability all can not meet the requirement of operation.Therefore further investigate minimally invasive surgery robot construction features, analyzing the robot architecture of applicable micro-wound surgical operation, is very necessary problem.Surgical operation robot will have the prospect of more wide development at medical domain, and this technology will constantly progress, constantly develops.
Summary of the invention
The object of the present invention is to provide the armed arm mechanism of multiple degrees of freedom micro-wound surgical operation stablizing flexibly, be easy to control.
The object of the present invention is achieved like this:
The armed arm mechanism of multiple degrees of freedom micro-wound surgical operation of the present invention, is characterized in that: comprise traversing carriage mechanism, arm rotary joint, wrist rotary joint, sliding track mechanism, traversing carriage mechanism comprises base plate, first-the second motor, driving wheel, brake universal wheel, leading screw, driving wheel and brake universal wheel are arranged on below base plate, driving wheel connects axletree, axletree is arranged on above base plate by bearing, axletree is installed first gear, second motor base is installed above axletree, first motor is arranged on base plate, second motor is arranged on the second motor base, first motor connects the first pinion, first pinion and first gears meshing, leading screw is arranged on the second motor base, leading screw is installed second largest gear, second motor connects the second pinion, second pinion and second largest gears meshing, wrist rotary joint comprises slide block, the 3rd motor, the first-the second synchronous pulley, forearm, adpting flange, synchronous large belt wheel, main shaft, 3rd motor is installed on slide block, first-the second synchronous pulley is connected by the first Timing Belt, 3rd motor connects the first synchronous pulley, second synchronous pulley is connected with forearm, adpting flange is connected with synchronous large belt wheel with forearm respectively, synchronous large belt wheel is connected with main shaft by bearing, slide block is arranged the internal thread hole matched with leading screw, leading screw is arranged in internal thread hole, wrist rotary joint comprises the 4th motor, synchronous small pulley, gripper shoe, connecting plate, arc rack, gripper shoe is connected with connecting plate, 4th motor is arranged on connecting plate, synchronous small pulley connects the 4th motor, installation shaft locating piece in gripper shoe, arc rack is arranged on the end of connecting plate, and synchronous small pulley is connected by the second Timing Belt with synchronous large belt wheel, and spindle nose is arranged in axle locating piece, sliding track mechanism comprises the 5th motor, the 6th motor, lead screw, sliding nut, guide post, finger connecting plate, wrist always support, third pinion, 5th motor always supports with wrist and is connected, third pinion is connected with the 5th motor, third pinion is meshed with arc rack, guide post is arranged on wrist by guide post support and always supports, 6th motor connects lead screw, sliding nut is arranged in lead screw, and finger connecting plate is connected with sliding nut and is sleeved in guide post and lead screw.
The present invention can also comprise:
1, the baffle plate playing position-limiting action is installed at arc rack two ends.
2, also comprise regulating wheel, regulating wheel is arranged on gripper shoe by regulating wheel gripper shoe, and the second Timing Belt is simultaneously around synchronous small pulley, regulating wheel, synchronous large belt wheel.
3, sliding track mechanism is-20 ° ~+20 ° around the angular range of arc rack pivot, and the angular range that pinion and gear wheel engagement drive axletree to rotate is-90 ° ~+90 °.
Advantage of the present invention is: the advantage such as the present invention has in stable condition, accurate positioning, dexterity is good, working range is large, traversing carriage mechanism is similar to total rotary freedom of people's waist and the lifting degree of freedom of screw part in addition.It effectively can avoid some shortcomings of artificial operation technique, efficiently utilizes the experience of operative doctor.Specifically:
1, have working range from hands series connection arm comparatively large, positioning precision is higher, and motion intuitive is comparatively strong, the advantage little on the impact of attitude.
2, the present invention can install micro-apparatus at end, can operate in very little operation opening, alleviates the misery of patient's operation.
3, the present invention's armed arm end can be changed according to the actual needs and install the different micro-apparatuses of operation, has certain versatility.
4, entirety of the present invention has six-freedom degree, and wrist has three degree of freedom, simple, convenient operation and control.
Accompanying drawing explanation
Fig. 1 is integrated machine composition of the present invention;
Fig. 2 is traversing carriage structural scheme of mechanism of the present invention;
Fig. 3 is drive wheel mechanism figure of the present invention;
Fig. 4 is arm rotary joint schematic diagram of the present invention;
Fig. 5 is wrist rotary joint schematic diagram of the present invention;
Fig. 6 is sliding track mechanism schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Composition graphs 1 ~ 6, the present invention forms primarily of traversing carriage mechanism 1, arm rotary joint 2, wrist rotary joint 3, sliding track mechanism 4.
Traversing carriage mechanism 1 is by axle head block plate 1-1, driving wheel 1-2, base plate 1-3, brake universal wheel 1-4, bearing bottom 1-5, axletree 1-6, bearing (ball) cover 1-7, gear wheel 1-8, gear fixed muffle 1-9, pinion 1-10, sleeve 1-11, electric machine support 1-12, column 1-13, screw 1-14, top cover 1-15, bearing (ball) cover 1-16, deep groove ball bearing 1-17, leading screw 1-18, motor 1-19, gear fixed muffle 1-20, gear wheel 1-21, bearing block 1-22, taper roll bearing 1-23, motor 1-24, sleeve 1-25, electric machine support 1-26, pinion 1-27 forms, arm rotary joint 2 is made up of slide block 2-1, synchronous pulley 2-2, electric machine support 2-3, motor 2-4, Timing Belt 2-5, deep groove ball bearing 2-6, sleeve 2-7, axle 2-8, bearing (ball) cover 2-9, taper roll bearing 2-10, forearm 2-11, adpting flange 2-12, annular brace 2-13, synchronous large belt wheel 2-14, bearing (ball) cover 2-15, main shaft 2-16, wrist rotary joint 3 is made up of baffle plate 3-1, screw 3-2, arc rack 3-3, connecting plate 3-4, motor 3-5, synchronous small pulley 3-6, motor support plate 3-7, regulating wheel gripper shoe 3-8, regulating wheel 3-9, gripper shoe 3-10, axle locating piece 3-11, bolt 3-12, sliding track mechanism 4 by motor 4-1, gripper shoe 4-2, motor support plate 4-3, pinion 4-4, upper slide rail 4-5, wrist always support 4-6, guide post supports 4-7, guide post (4-8), motor 4-9, connecting plate for electric motor 4-10, shaft coupling 4-11, bearing block 4-12, finger connecting plate 4-13, connecting plate 4-14, sliding nut 4-15, lead screw 4-16, rolling bearing 4-17, circlip for hole 4-18 form.
Bearing bottom 1-5, universal wheel 1-4, driving wheel 1-2 are bolted respectively on base plate 1-3, and driving wheel can drive the movement fast of whole mechanism, and when mechanism moves to the correct position of operation needs, brake universal wheel realizes the locked of mechanism.Motor 1-24 is fixed on base plate 1-3 by electric machine support 1-26, and pinion 1-27 and gear wheel 1-8 engages and drives axletree 1-6 to rotate, and realizes a rotary freedom of integrated model.This rotation angle range, between-90 ° ~+90 °, can meet the space requirement of operation technique.Motor 1-19 drives leading screw 1-18 to rotate by gear drive, makes the slide block of arm rotary joint realize rising and descending motion along the chute track of leading screw 1-18 and column 1-13 by the screw-driven of leading screw upper end.
Motor 2-4 is fixed by bolts on slide block 2-1 by electric machine support 2-3, and motor 2-4 axle and axle 2-8 are provided with synchronous pulley 2-2, and synchronous pulley and axle are all be connected by flat key, and axial location all adopts shaft end ring to add the form of nut.Drive the synchronous pulley be arranged on axle 2-8 to rotate by Timing Belt 2-5, therefore the rotation of axle 2-8 drives the rotation of forearm 2-11 mounted thereto, and then realizes a rotary freedom of forearm 2-11.Adpting flange 2-12 by bolt respectively large belt wheel 2-14 synchronous with forearm 2-11 connects, wherein synchronous large belt wheel 2-14 is coupled together by pair of bearings and main shaft 2-16 and wrist, whole system is played to the effect of a support.
Regulating wheel gripper shoe 3-8 is fixed by bolts on gripper shoe 3-10, and connecting plate 3-4 bolt and motor support plate 3-7, gripper shoe 3-10, arc rack 3-3 fix simultaneously.There is the baffle plate 3-1 be connected by screw at arc rack 3-3 two ends, and baffle plate 3-1 plays spacing effect.Motor 3-5 is fixed on motor support plate 3-7, motor shaft is fixed synchronous small pulley 3-6.Motor 3-5 realizes V belt translation by small pulley 3-6 and large belt wheel 2-14, and regulating wheel 3-9 is bolted on regulating wheel gripper shoe 3-8, for regulating the tensioning of Timing Belt.Bolt 3-12 and axle locating piece 3-11 realizes main shaft axial and circumferential location, with screw, axle locating piece 3-11 is fixed on gripper shoe 3-10.Main shaft 2-16 drives connecting plate 3-4 to realize the rotation of wrist.
Motor 4-1 is arranged on gripper shoe 4-2 by motor support plate 4-3, gripper shoe 4-2 and upper slide rail 4-5 is bolted on wrist and always supports on 4-6, the arc rack internal messing that pinion (4-4) is fixed along position moves, thus realizes sliding track mechanism 4 does-20 ° to+20 ° swing at arc rack Shang Rao center.Motor 4-9 is connected with lead screw 4-16 by shaft coupling 4-11, and motor 4-9 drives lead screw 4-16 to rotate, and lead screw 4-16 drives sliding nut 4-15 to do rectilinear motion, and wherein the guide post 4-8 of both sides ensures the precision of screw rod transmission.Sliding nut 4-15 there is locating hole, manually can load holding screw location finger position.This mechanism is mainly used to the various micro-apparatus clamping micro-wound surgical operation, has certain versatility, and has the advantages such as volume is little, lightweight, flexibility ratio is abundant.
Composition graphs 2, in traversing carriage mechanism 1, bearing bottom 1-5, brake universal wheel 1-4, driving wheel 1-2 are bolted respectively on base plate 1-3, and two brakes universal wheel 1-4 and two driving wheel 1-2 arranges about centrosymmetry.Brake universal wheel 1-4 is used is finished product, does not elaborate.Gear wheel 1-8 is connected by flat key with axletree 1-6, and axial location is then realized by gear fixed muffle 1-9.Motor 1-24 is fixed on base plate 1-3 by electric machine support 1-26, pinion 1-27 is connected by flat key with motor 1-24 axle, then engaging with gear wheel 1-8 drives axletree 1-6 to rotate, realize the rotary freedom that integrated model is similar to people's waist, this rotation angle range, between-90 ° ~+90 °, can meet the space requirement of operation technique.Motor 1-19 is fixed on axletree 1-6 by electric machine support 1-12, is arranged on the pinion 1-10 on motor 1-19 and is driven leading screw 1-18 to rotate by the gear wheel 1-21 external toothing that gear fixed muffle 1-20 is fixed on leading screw 1-18.Taper roll bearing 1-23 can bear larger axis to power, so leading screw 1-18 end is supported by taper roll bearing 1-23, bearing block 1-22 is bolted on axletree 1-6.The slide block of arm rotary joint is made to realize rising and descending motion along the chute track of leading screw 1-18 and column 1-13 by the screw-driven of leading screw upper end.
Composition graphs 3, motor 1-2-1, by box coupling 1-2-2 connection rotating shaft 1-2-11, is connected by flat key between rotating shaft 1-2-11 with wheel 1-2-10.Rotating shaft 1-2-11 and motor 1-2-1 axle are fixed on box coupling 1-2-2 by holding screw 1-2-4 respectively, motor 1-2-1 is fixed by bolt and motor support frame 1-2-5, drive wheel bracket 1-2-7 is connected with motor support frame 1-2-5 by screw 1-2-9 left end, right-hand member is fixed with bearing (ball) cover 1-2-8, and wheel 1-2-10 realizes axial location by nut 1-2-13 and shaft end ring 1-2-12.Driving wheel can provide power for the movement of whole mechanism, alleviate the burden of operator, and the universal wheel that brakes has auto-lock function, realizes the fixing of whole mechanism, prevents the movement of whole mechanism in operating process.
Composition graphs 4, motor 2-4 is fixed by bolts on slide block 2-1 by electric machine support 2-3, and motor 2-4 axle and axle 2-8 are provided with synchronous pulley 2-2, and synchronous pulley and axle are all be connected by flat key, and axial location all adopts shaft end ring to add the form of nut.Drive the synchronous pulley be arranged on axle 2-8 to rotate by Timing Belt 2-5, be connected with flat key between forearm 2-11 with axle 2-8, therefore the rotation of axle 2-8 drives the rotation of forearm 2-11 mounted thereto, and then realizes a rotary freedom of forearm 2-11.Also be provided with deep groove ball bearing 2-6 and taper roll bearing 2-10 between forearm 2-11 and axle 2-8, ball bearing mainly bears radial force, and taper roll bearing bears axial force and radial force simultaneously.Adpting flange 2-12 by bolt respectively large belt wheel 2-14 synchronous with forearm 2-11 connect, wherein synchronous large belt wheel 2-14 and external support link together, coupled together by pair of bearings and main shaft 2-16 and wrist, an effect supported is played to whole system.
Composition graphs 5, regulating wheel gripper shoe 3-8 is fixed by bolts on gripper shoe 3-10, and connecting plate 3-4 bolt and motor support plate 3-7, gripper shoe 3-10, arc rack 3-3 fix simultaneously.There is the baffle plate 3-1 be connected by screw at arc rack 3-3 two ends, and baffle plate 3-1 plays spacing effect.Motor 3-5 is fixed on motor support plate 3-7, motor shaft is fixed synchronous small pulley 3-6.Regulating wheel is bolted on regulating wheel gripper shoe 3-8, for regulating the tensioning of Timing Belt.Bolt 3-12 and axle locating piece 3-11 realizes main shaft axial and circumferential location, and axle locating piece 3-11 is screwed on gripper shoe 3-10.
Composition graphs 6, motor 4-1 is arranged on gripper shoe 4-2 by motor support plate 4-3, gripper shoe 4-2 and upper slide rail 4-5 is bolted on wrist and always supports on 4-6, the arc rack internal messing that pinion (4-4) is fixed along position moves, thus realizes sliding track mechanism 4 does-20 ° to+20 ° swing at arc rack Shang Rao center.Motor 4-9 is fixed on wrist by connecting plate for electric motor 4-10 and always supports on 4-6, and guide post 4-8 is fixed on wrist by guide post support 4-7 and always supports on 4-6.Lead screw 4-16 is provided with a pair rolling bearing 4-17 and circlip for hole 4-18, with bearing block 4-12, lead screw 4-16 is fixed on wrist and always supports on 4-6.Connecting plate 4-14 is fixed with finger connecting plate 4-13, sliding nut 4-15 respectively by bolt.Motor 4-9 is connected with lead screw 4-16 by shaft coupling 4-11, and motor 4-9 drives lead screw 4-16 to rotate, and lead screw 4-16 drives sliding nut 4-15 to do rectilinear motion, and wherein the guide post 4-8 of both sides ensures the precision of screw rod transmission.Sliding nut 4-15 there is locating hole, manually can load holding screw location finger position.
Composition graphs 1 to Fig. 6, in traversing carriage mechanism 1, base plate is provided with brake universal wheel and driving wheel, can realize dolly along the movement of any direction position and fixing.Realize base and leading screw rotation respectively by the driving of two motors and the engaged transmission of gear, make the slide block of arm rotary joint realize sliding motion along the chute track of leading screw and column by the screw-driven of leading screw upper end; In arm rotary joint 2, motor realizes the rotation of forearm by V belt translation; In wrist rotary joint 3, motor realizes the rotary freedom of wrist around main shaft by V belt translation; In sliding track mechanism 4, motor realizes the swing of sliding track mechanism along arc rack by the internal messing of wheel and rack, another motor is connected with lead screw by shaft coupling, seesawing of connecting plate is pointed in rotarily driving of lead screw, in addition, can as required the micro-apparatus of operation be arranged on finger connecting plate.
Claims (5)
1. the armed arm mechanism of multiple degrees of freedom micro-wound surgical operation, is characterized in that: comprise traversing carriage mechanism, arm rotary joint, wrist rotary joint, sliding track mechanism, traversing carriage mechanism comprises base plate, first motor, second motor, driving wheel, brake universal wheel, leading screw, driving wheel and brake universal wheel are arranged on below base plate, driving wheel connects axletree, axletree is arranged on above base plate by bearing, axletree is installed first gear, second motor base is installed above axletree, first motor is arranged on base plate, second motor is arranged on the second motor base, first motor connects the first pinion, first pinion and first gears meshing, leading screw is arranged on the second motor base, leading screw is installed second largest gear, second motor connects the second pinion, second pinion and second largest gears meshing, wrist rotary joint comprises slide block, the 3rd motor, the first synchronous pulley, the second synchronous pulley, forearm, adpting flange, synchronous large belt wheel, main shaft, 3rd motor is installed on slide block, first synchronous pulley, the second synchronous pulley are connected by the first Timing Belt, 3rd motor connects the first synchronous pulley, second synchronous pulley is connected with forearm, adpting flange is connected with synchronous large belt wheel with forearm respectively, synchronous large belt wheel is connected with main shaft by bearing, slide block is arranged the internal thread hole matched with leading screw, leading screw is arranged in internal thread hole, wrist rotary joint comprises the 4th motor, synchronous small pulley, gripper shoe, connecting plate, arc rack, gripper shoe is connected with connecting plate, 4th motor is arranged on connecting plate, synchronous small pulley connects the 4th motor, installation shaft locating piece in gripper shoe, arc rack is arranged on the end of connecting plate, and synchronous small pulley is connected by the second Timing Belt with synchronous large belt wheel, and spindle nose is arranged in axle locating piece, sliding track mechanism comprises the 5th motor, the 6th motor, lead screw, sliding nut, guide post, finger connecting plate, wrist always support, third pinion, 5th motor always supports with wrist and is connected, third pinion is connected with the 5th motor, third pinion is meshed with arc rack, guide post is arranged on wrist by guide post support and always supports, 6th motor connects lead screw, sliding nut is arranged in lead screw, and finger connecting plate is connected with sliding nut and is sleeved in guide post and lead screw.
2. the armed arm mechanism of multiple degrees of freedom micro-wound surgical operation according to claim 1, is characterized in that: the baffle plate playing position-limiting action is installed at arc rack two ends.
3. the armed arm mechanism of multiple degrees of freedom micro-wound surgical operation according to claim 1 and 2, it is characterized in that: also comprise regulating wheel, regulating wheel is arranged on gripper shoe by regulating wheel gripper shoe, and the second Timing Belt is simultaneously around synchronous small pulley, regulating wheel, synchronous large belt wheel.
4. the armed arm mechanism of multiple degrees of freedom micro-wound surgical operation according to claim 1 and 2, it is characterized in that: sliding track mechanism is-20 ° ~+20 ° around the angular range of arc rack pivot, the angular range that pinion and gear wheel engagement drive axletree to rotate is-90 ° ~+90 °.
5. the armed arm mechanism of multiple degrees of freedom micro-wound surgical operation according to claim 3, it is characterized in that: sliding track mechanism is-20 ° ~+20 ° around the angular range of arc rack pivot, the angular range that pinion and gear wheel engagement drive axletree to rotate is-90 ° ~+90 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410172288.0A CN103919610B (en) | 2014-04-25 | 2014-04-25 | The armed arm mechanism of multiple degrees of freedom micro-wound surgical operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410172288.0A CN103919610B (en) | 2014-04-25 | 2014-04-25 | The armed arm mechanism of multiple degrees of freedom micro-wound surgical operation |
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| CN103919610A CN103919610A (en) | 2014-07-16 |
| CN103919610B true CN103919610B (en) | 2016-01-27 |
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| CN201410172288.0A Expired - Fee Related CN103919610B (en) | 2014-04-25 | 2014-04-25 | The armed arm mechanism of multiple degrees of freedom micro-wound surgical operation |
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| CN101227870A (en) * | 2005-05-19 | 2008-07-23 | 直观外科手术公司 | Software center and highly configurable robotic systems for surgery and other uses |
| CN101011292A (en) * | 2007-02-02 | 2007-08-08 | 天津大学 | Multi-freedom micro-mechanical arm for minimally invasive operation |
| CN201743777U (en) * | 2010-08-30 | 2011-02-16 | 昆山市工业技术研究院有限责任公司 | Triple-drive dipolar-coordinates and four-degree-of-freedom parallel robot |
| WO2013059643A1 (en) * | 2011-10-21 | 2013-04-25 | Intuitive Surgical Operations, Inc. | Grip force control for robotic surgical instrument end effector |
| 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 |
| CN103431913A (en) * | 2013-09-12 | 2013-12-11 | 哈尔滨工业大学 | Robotic surgery micro-device for minimally invasive surgery |
| CN103565529A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Robot-assisted multifunctional instrument arm for minimally invasive surgery |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106344160A (en) * | 2016-11-03 | 2017-01-25 | 河北工业大学 | Surgical robot containing arc-shaped moving pair |
| CN106344160B (en) * | 2016-11-03 | 2019-09-20 | 河北工业大学 | A kind of surgical operation robot containing arc prismatic pair |
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