CN100479776C - Multi-freedom micro-mechanical arm for minimally invasive operation - Google Patents
Multi-freedom micro-mechanical arm for minimally invasive operation Download PDFInfo
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- CN100479776C CN100479776C CNB2007100567017A CN200710056701A CN100479776C CN 100479776 C CN100479776 C CN 100479776C CN B2007100567017 A CNB2007100567017 A CN B2007100567017A CN 200710056701 A CN200710056701 A CN 200710056701A CN 100479776 C CN100479776 C CN 100479776C
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- 238000005096 rolling process Methods 0.000 claims abstract description 25
- 229910000831 Steel Inorganic materials 0.000 claims description 18
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- 230000007246 mechanism Effects 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 abstract description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 7
- 210000000867 larynx Anatomy 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 210000000214 mouth Anatomy 0.000 description 2
- 210000001260 vocal cord Anatomy 0.000 description 2
- 206010011732 Cyst Diseases 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The invention relates to a multi-freedom micro mechanical hand used in micro-hurt surgery. The invention comprises a base, an upper drawing device with terminal tool transmitter, a lower drawing device, a self-rotation device and an executor of terminal tool, and a transmitter box. The servo motor of base via the coupler is connected with the lower clutch disc fixed on the motor frame via rolling bearing; the transmitter box is arranged on the upper face of motor frame; the upper and lower drawing devices and the self-rotation device are in the transmitter box, while the upper ends are fixed on the top face of transmitter box and lower ends are through the bottom of box to connect the lower clutch disc, and the front ends via their own upper drawing sheath, lower drawing sheath and self-rotation muffle are connected from up to down; the lower end of self-rotation muffle is connected with the executor of terminal tool. The invention has bend freedom, therefore, the terminal tool can be switched freely, with simple structure, high bearing ability and reliable transmission of terminal tool.
Description
Technical field
The present invention relates to the armarium that a kind of surgical operation is used.Particularly relate to a kind of easy to use, multi-freedom micro-mechanical arm for minimally invasive operation flexibly.
Background technology
Minimally Invasive Surgery is by advanced person's operating theater instruments and equipment, finishes operation with minimum wound, reaches the curative effect identical with traditional open surgery.Wherein, the operation tool of throat's Minimally Invasive Surgery generally need be implemented operation technique by oral cavity and cavum laryngis under laryngoscope, and operative space is comparatively narrow and small, and therefore, the type operation belongs to the difficult point in the Minimally Invasive Surgery.At present, such operation can't be handled vocal cords and sew up, and complicated operation on larynx action such as cyst excision under the vocal cords is opened the larynx way and this type of operation had to adopt.Therefore, press for a kind of micro-operation hand, the ability so that the extension doctor performs the operation is finished complicated operation techniques such as operation on larynx stitching.At present, abroad do not appear in the newspapers as yet about instrument research of auxiliary throat of robot Minimally Invasive Surgery.A large amount of throat's clinical trials is still based on Da vinci system of assisted surgery for robots system.Therefore Da vinci system, runs into a lot of problems at abdominal cavity Minimally Invasive Surgery characteristics designs in carrying out the operation on larynx experimentation, as: tool diameter is big, operate problems such as dumb and instrument interference.And at the designed robot of operation on larynx characteristics, do not appear in the newspapers as yet so far.Many in the world research institutions as the research center of John Hopkins university, also carry out the research of this aspect.The medical robot of domestic independent research can only be engaged in to seek and visit in the body in the surgical operation, back work such as location, clamp, can't satisfy the needs of operation on larynx more.
Summary of the invention
Technical problem to be solved by this invention is, a kind of degrees of freedom for minimally invasive surgery minor diameter mechanical arm is provided, can realize the two hands coordination operation in the deep enough small space, the doctor can be in small gap under its help, as nasal cavity, cavum laryngis and oral cavity etc., finish the multi-freedom micro-mechanical arm for minimally invasive operation of the action that staff such as stitching, knotting can't finish.
The technical solution adopted in the present invention is: a kind of multi-freedom micro-mechanical arm for minimally invasive operation, include the last haulage gear of base, end-of-arm tooling running part, the following haulage gear of end-of-arm tooling running part, the free-wheeling system of end-of-arm tooling running part, the actuator and the transmission case casing of end-of-arm tooling, in the base, three groups of servomotors link to each other with three following clutch discs by three shaft couplings respectively, and three following clutch discs are fixed on the motor frame by three rolling bearings respectively; The transmission case casing is arranged on motor frame upper surface; Last haulage gear, following haulage gear and free-wheeling system lay respectively at the inside of transmission case casing, the upper end of last haulage gear, following haulage gear and free-wheeling system is separately fixed in the end face of transmission case casing, the bottom surface that the lower end is passed the transmission case casing respectively links to each other with following clutch discs, last haulage gear, down haulage gear and free-wheeling system front end successively by the last traction casing, time traction casing of self, from top to bottom connect from rotaring sleeve and to link to each other, free-wheeling system from rotaring sleeve in the rotation bearing, the telescopic lower end of rotation is connected with the actuator of end-of-arm tooling.
The last haulage gear of described end-of-arm tooling running part includes: go up draft arm; First leading screw of middle part with last draft arm by being threaded, the upper/lower terminal of first leading screw is connected in the end face and bottom surface of transmission case casing by rolling bearing respectively, its lower end is run through the transmission case tank floor and is linked to each other with last clutch discs, and last clutch discs is arranged in the outside of transmission case tank floor and is meshed with the following clutch discs of base; An end of last draft arm be provided with run through by rolling bearing draft arm on traction casing, run through traction casing and be provided with the last draw bar that the lower end connects the actuator of end-of-arm tooling, the upper end of last draw bar links to each other with last traction casing by marking closely screw; The other end at last draft arm is provided with ball bushing, runs through ball bushing and is provided with the axis of guide, and the upper/lower terminal of the axis of guide is separately fixed in the end face and bottom surface of transmission case casing.
The following haulage gear of described end-of-arm tooling running part includes: following draft arm; Second leading screw of middle part with following draft arm by being threaded, the upper/lower terminal of second leading screw is connected in the end face and bottom surface of transmission case casing by rolling bearing respectively, its lower end is run through the transmission case tank floor and is linked to each other with last clutch discs, and last clutch discs is arranged in the outside of transmission case tank floor and is meshed with the following clutch discs of base; One end of infra draft arm is provided with by rolling bearing runs through the following traction casing of draft arm down, running through down, traction casing is provided with the following draw bar that the lower end connects the actuator of end-of-arm tooling, the upper end of following draw bar links to each other with following traction casing by marking closely screw, the upper end of following traction casing is formed with groove, is used for the lower end of the last traction casing of last haulage gear is placed groove; The other end of infra draft arm is provided with ball bushing, runs through ball bushing and is provided with the axis of guide, and the upper/lower terminal of the axis of guide is separately fixed in the end face and bottom surface of transmission case casing.
The free-wheeling system of described end-of-arm tooling running part includes: the silk wheel shaft, the upper/lower terminal of silk wheel shaft is connected in the end face and bottom surface of transmission case casing by rolling bearing respectively, its lower end is run through the transmission case tank floor and is linked to each other with last clutch discs, and last clutch discs is arranged in the outside of transmission case tank floor and is meshed with the following clutch discs of base; The silk wheel shaft links to each other with silk wheel nut by closed steel wire rope; The upper end of silk wheel nut is provided with locking nut, the lower end is disposed with sliding shaft sleeve, rotation bearing, lower slider axle sleeve, and by running through wherein from rotaring sleeve; The telescopic upper end of rotation is formed with groove, is used for descending the lower end of the following traction casing of haulage gear to place groove, and the telescopic upper end of rotation is formed with screw thread, links to each other with a locking nut and a silk wheel nut; The rotation bearing is connected with the front of transmission case casing, the rotation bearing link to each other with upper and lower sliding shaft sleeve part be formed with can with from rotaring sleeve through wherein structure; Following draw bar in last draw bar in the last haulage gear and the following haulage gear places from rotaring sleeve, connects the actuator of end-of-arm tooling from the rotaring sleeve lower end.
The actuator of described end-of-arm tooling includes: with the last draw bar lower end in the last haulage gear, the following draw bar lower end in the following haulage gear and the upper and lower jaw that links to each other from the rotaring sleeve lower end, be formed with centre bore and eccentric orfice on the upper and lower jaw respectively, be formed with the connecting hole corresponding with described centre bore from the rotaring sleeve lower end, the draw bar lower end is formed with the connecting hole corresponding with described eccentric orfice, the centre bore of the upper and lower jaw of the actuator of end-of-arm tooling by mandrel with link to each other from the rotaring sleeve lower end, simultaneously its eccentric orfice links to each other with the draw bar lower end by mandrel.
The both sides of described transmission case casing also are respectively arranged with the steel wire strainer, include the tensioning wheel seat; Be connected the regulating wheel in the closed steel wire rope of being positioned at of the tensioning wheel seat one end outside by axle; Be connected the transmission case casing outside and run through the screw of the tensioning wheel seat other end; And be arranged at locking nut on the screw.
The both sides, bottom surface of described transmission case casing are formed with column pin hole respectively, and the position corresponding with column pin hole, motor frame end face both sides is respectively arranged with and is used for transmission case casing and the mutual localized pin of motor frame, thereby form location structure; Transmission case casing two sides bottoms is formed with grab respectively, motor frame and its corresponding position be provided with by with motor frame both sides by the hinged handle of mandrel, hinged and be used for and the described grab stretching hook of hook mutually with handle, thereby the retaining mechanism of composition.
Multi-freedom micro-mechanical arm for minimally invasive operation of the present invention has following beneficial effect:
1. the present invention has crooked degree of freedom, and promptly terminal operation tool can be opened or closure the optional position in scope of design;
2. end-of-arm tooling operating part structure of the present invention adopts the class slider-crank mechanism, by its eccentric swing of flexible realization of draw bar self, thereby simplifies the internal structure of an organization greatly, increases reliability;
3. the present invention is arranged at the position of upper and lower jaw eccentric orfice by adjustment, realizes two draw bars equal tension in impulse stroke, strengthens bearing capacity greatly, reduces radial dimension simultaneously;
4. the present invention is connected by sliding shaft sleeve between rotaring sleeve and rotation bearing, reduces the radial dimension of rotation bearing greatly, thereby meets the requirement of complicated Minimally Invasive Surgery, and such requirements of operation two hands coordination in small space is operated;
5. end-of-arm tooling of the present invention can be changed fast, by the engagement of placing, locking two actions can be finished location, locking and the upper and lower clutch discs of end-of-arm tooling; Wherein retaining mechanism obtains sizable pulling force by stretching hook self deformation, reliably locks to guarantee end-of-arm tooling.
6. the free-wheeling system of end-of-arm tooling running part of the present invention adopts the steel wire rope transmission, cooperates the steel wire rope strainer, realizes the high efficiency of the diaxon that centre-to-centre spacing is far away, reliable transmission;
7. the present invention can change multiple end-of-arm tooling, holds etc. as scalpel, operation tweezers, surgical scissors, pin, thereby has increased the function of this multi-freedom micro-mechanical arm for minimally invasive operation.
Description of drawings
Fig. 1 is the overall structure sketch map of multi-freedom micro-mechanical arm for minimally invasive operation of the present invention;
Fig. 2 is a understructure sketch map of the present invention;
Fig. 3 is a base portion motor drive mechanism sketch map of the present invention;
Fig. 4 is a haulage gear sketch map on the end-of-arm tooling running part of the present invention;
Fig. 5 is a haulage gear sketch map under the end-of-arm tooling running part of the present invention;
Fig. 6, Fig. 7, Fig. 8 are end-of-arm tooling running part free-wheeling system sketch maps of the present invention;
Fig. 9 is the structural representation of end-of-arm tooling operating part embodiment of the present invention;
Figure 10 is the decomposition texture sketch map of end-of-arm tooling operating part embodiment of the present invention.
Wherein:
1-transmission case casing 2-pin 3-motor frame
4-stretching hook 5-handle 6-mandrel
Clutch discs 8-rolling bearing 9-shaft coupling under the 7-
10-servomotor 11-goes up draw bar 12,23-rolling bearing
The last traction casing 14 of 13-, 24-are marked closely screw 15-and are gone up draft arm
16-first leading screw 17,20,28,31,39,46-rolling bearing
18, the 29-axis of guide 19,30-ball bushing 21,32, the last clutch discs of 45-
Draft arm under the traction casing 26-under the draw bar 25-under the 22-
The 27-second leading screw 33-is from rotaring sleeve 34-lower slider axle sleeve
The last sliding shaft sleeve 36-of 35-silk wheel nut 37-locking nut
38-regulating wheel 40-silk wheel shaft 41-mandrel
42-tensioning wheel seat 43-screw 44-locking nut
47-steel wire rope 48-rotation bearing 49,53-mandrel
50-maxillary 51-mandrel 52-lower jaw
Ball A-base under the last ball 55-of 54-
Haulage gear D-free-wheeling system under the last haulage gear C-of B-
The E-actuator
The specific embodiment
Below in conjunction with embodiment multi-freedom micro-mechanical arm for minimally invasive operation of the present invention is made a detailed description.
As Fig. 1, Fig. 2, shown in Figure 3, multi-freedom micro-mechanical arm for minimally invasive operation of the present invention, include the last haulage gear B, the following haulage gear C of end-of-arm tooling running part, the free-wheeling system D of end-of-arm tooling running part, the actuator E and the transmission case casing 1 of end-of-arm tooling of base A, end-of-arm tooling running part, among the base A, three groups of servomotors 10 link to each other with three following clutch discs 7 by three shaft couplings 9 respectively, and three following clutch discs 7 are fixed on the motor frame 3 by three rolling bearings 8 respectively; Transmission case casing 1 is arranged on motor frame 3 upper surfaces; Last haulage gear B, following haulage gear C and free-wheeling system D lay respectively at the inside of transmission case casing 1, last haulage gear B, the upper end of following haulage gear C and free-wheeling system D is separately fixed in the end face of transmission case casing 1, the bottom surface that the lower end is passed transmission case casing 1 respectively links to each other with following clutch discs 7, last haulage gear B, the front end of following haulage gear C and free-wheeling system D passes through the last traction casing 13 of self successively, following traction casing 25, connect continuous from top to bottom from rotaring sleeve 33, free-wheeling system D from rotaring sleeve 33 in rotation bearing 48, be connected with the actuator E of end-of-arm tooling from the lower end of rotaring sleeve 33.
The both sides, bottom surface of transmission case casing 1 are formed with column pin hole respectively, and the position corresponding with column pin hole, motor frame 3 end face both sides is respectively arranged with and is used for transmission case casing 1 and motor frame 3 mutual localized pins 2, thereby forms location structure; Bottom, transmission case casing 1 two sides is formed with grab respectively, motor frame 3 and its corresponding position be provided with by with motor frame 1 both sides by the hinged handle 5 of mandrel 6, hinged and be used for and the described grab stretching hook 4 of hook mutually with handle 5, thereby the retaining mechanism of forming is to realize the locking between transmission case casing 1 and the motor frame 3.Simultaneously also constituted quick-changing mechanism,, can change different operation tools fast by opening of described grab and stretching hook 4.
As shown in Figure 4, the last haulage gear B of described end-of-arm tooling running part includes: go up draft arm 15; First leading screw 16 of middle part with last draft arm 15 by being threaded, the upper/lower terminal of first leading screw 16 is connected in the end face and bottom surface of transmission case casing 1 by rolling bearing 17,20 respectively, its lower end is run through transmission case casing 1 bottom surface and is linked to each other with last clutch discs 21, and last clutch discs 21 is arranged in the outside of transmission case casing 1 bottom surface and is meshed with the following clutch discs 7 of base A; An end of last draft arm 15 be provided with run through by rolling bearing 12 draft arm 15 on traction casing 13, run through traction casing 13 and be provided with the last draw bar 11 that the lower end connects the actuator E of end-of-arm tooling, the upper end of last draw bar 11 links to each other with last traction casing 13 by marking closely screw 14; Be provided with ball bushing 19 in the other end of last draft arm 15, run through ball bushing 19 and be provided with the axis of guide 18, the upper/lower terminal of the axis of guide 18 is separately fixed in the end face and bottom surface of transmission case casing 1.
As shown in Figure 5, the following haulage gear C of described end-of-arm tooling running part includes: following draft arm 26; Second leading screw 27 of middle part with following draft arm 26 by being threaded, the upper/lower terminal of second leading screw 27 is connected in the end face and bottom surface of transmission case casing 1 by rolling bearing 28,31 respectively, its lower end is run through transmission case casing 1 bottom surface and is linked to each other with last clutch discs 32, and last clutch discs 32 is arranged in the outside of transmission case casing 1 bottom surface and is meshed with the following clutch discs 7 of base A; One end of infra draft arm 26 is provided with by rolling bearing 23 runs through the following traction casing 25 of draft arm 26 down, running through down, traction casing 25 is provided with the following draw bar 22 that the lower end connects the actuator E of end-of-arm tooling, the upper end of following draw bar 22 links to each other with following traction casing 25 by marking closely screw 24, the upper end of following traction casing 25 is formed with groove, is used for the lower end of the last traction casing 13 of last haulage gear B is placed groove; The other end of infra draft arm 26 is provided with ball bushing 30, runs through ball bushing 30 and is provided with the axis of guide 29, and the upper/lower terminal of the axis of guide 29 is separately fixed in the end face and bottom surface of transmission case casing 1.
As Fig. 6, shown in Figure 7, the free-wheeling system D of described end-of-arm tooling running part includes: silk wheel shaft 40, the upper/lower terminal of silk wheel shaft 40 is connected in the end face and bottom surface of transmission case casing 1 by rolling bearing 39,46 respectively, its lower end is run through transmission case casing 1 bottom surface and is linked to each other with last clutch discs 45, and last clutch discs 45 is arranged in the outside of transmission case casing 1 bottom surface and is meshed with the following clutch discs 7 of base A; Silk wheel shaft 40 links to each other with silk wheel nut 36 by closed steel wire rope 47; The upper end of silk wheel nut 36 is provided with locking nut 37, the lower end is disposed with sliding shaft sleeve 35, rotation bearing 48, lower slider axle sleeve 34, and by running through wherein from rotaring sleeve 33; Upper end from rotaring sleeve 33 is formed with groove, is used for being formed with screw thread from the upper end of rotaring sleeve 33 with descending the lower end of the following traction casing 25 of haulage gear C to place groove, links to each other with a locking nut 37 and a silk wheel nut 36; Rotation bearing 48 is connected with the front of transmission case casing 1, and rotation bearing 48 part that links to each other with upper and lower sliding shaft sleeve 35,34 is formed with and can will passes through 33 structures that are through at wherein from rotaring sleeve; Last draw bar 11 among the last haulage gear B and the following draw bar 22 among the following haulage gear C place from rotaring sleeve 33, connect the actuator E of end-of-arm tooling from rotaring sleeve 33 lower ends.
As Fig. 6, shown in Figure 8, the free-wheeling system D of described end-of-arm tooling running part can also be designed to include: silk wheel shaft 40, the upper/lower terminal of silk wheel shaft 40 is connected in the end face and bottom surface of transmission case casing 1 by rolling bearing 39,46 respectively, its lower end is run through transmission case casing 1 bottom surface and is linked to each other with last clutch discs 45, and last clutch discs 45 is arranged in the outside of transmission case casing 1 bottom surface and is meshed with the following clutch discs 7 of base A; Silk wheel shaft 40 links to each other with silk wheel nut 36 by closed steel wire rope 47; The upper end of silk wheel nut 36 is provided with locking nut 37, the lower end is disposed with ball 54, rotation bearing 48, following ball 55, and by running through wherein from rotaring sleeve 33; Upper end from rotaring sleeve 33 is formed with groove, is used for being formed with screw thread from the upper end of rotaring sleeve 33 with descending the lower end of the following traction casing 25 of haulage gear C to place groove, links to each other with a locking nut 37 and a silk wheel nut 36; Rotation bearing 48 is connected with the front of transmission case casing 1, and the rotation bearing is formed with inner conical surface in two ends about in the of 48, and upper and lower ball 54,55 even being distributed on the inner conical surface can will be passed through 33 structures that are through at wherein and rotate thereby form from rotaring sleeve; Last draw bar 11 among the last haulage gear B and the following draw bar 22 among the following haulage gear C place from rotaring sleeve 33, connect the actuator E of end-of-arm tooling from rotaring sleeve 33 lower ends.
Both sides at transmission case casing 1 also are respectively arranged with the steel wire strainer, include tensioning wheel seat 42; Be connected the regulating wheel 38 in the closed steel wire rope of being positioned at of tensioning wheel seat 42 1 ends 47 outsides by axle 41; Be connected transmission case casing 1 outside and run through the screw 43 of tensioning wheel seat 42 other ends; And be arranged at locking nut 44 on the screw 43, adjust the position of steel wire strainers by two screws 43, and realize locking by two locking nuts 44.
As Fig. 9, shown in Figure 10, the actuator E of described end-of-arm tooling, be that operation tool (present embodiment is the surgical forceps clamp mechanism) includes: with last draw bar 11 lower ends among the last haulage gear B, following draw bar 22 lower ends among the following haulage gear C and from rotaring sleeve 33 lower ends link to each other on, lower jaw 50,52, on, lower jaw 50, be formed with centre bore and eccentric orfice on 52 respectively, be formed with the connecting hole corresponding from rotaring sleeve 33 lower ends with described centre bore, draw bar 11,22 lower ends are formed with the connecting hole corresponding with described eccentric orfice, on the actuator D of end-of-arm tooling, lower jaw 49,51 centre bore passes through mandrel 51 and links to each other from rotaring sleeve 33 lower ends, and its eccentric orfice is by mandrel 49 simultaneously, 53 with draw bar 11,22 lower ends link to each other.Operation tool is also replaceable to be held etc. for scalpel, operation tweezers, surgical scissors, pin.
The following describes the action implementation process of multi-freedom micro-mechanical arm for minimally invasive operation of the present invention.
1. three-degree-of-freedom motion:
The little multi-freedom micro-mechanical arm for minimally invasive operation of the present invention comprises three-degree-of-freedom motion: end-of-arm tooling pitching, folding degree of freedom, and from the rotary freedom of rotaring sleeve around self axis.
Last draft arm, following draft arm are under the driving of first leading screw, second leading screw, with two guide posts serves as that guiding is done translation up and down, and pass motion to upper and lower traction casing, and then drive by marking closely screw and be fixed on upper and lower draw bar motion on the upper and lower traction casing by two rolling bearings; Upper and lower draw bar lower end is hinged by the eccentric orfice on the upper and lower jaw of mandrel and operation tweezers, and then the upper and lower jaw of drive operation tweezers is done open and close movement; Upper and lower traction casing, upper and lower draw bar and upper and lower jaw are formed two groups " class slider-crank mechanisms ", wherein intermediate bar (being draw bar) is hinged with fixed replacement with slide block (being upper and lower traction casing), flexible realization trace swing with intermediate bar (draw bar) self, thereby simplified structure improves reliability greatly; Adjust the appropriate position of eccentric orfice on the upper and lower jaw, make end-of-arm tooling equal tension of (being in the closed action) two draw bars in impulse stroke, thereby when improving bearing capacity, reduce the draw bar size; Adjust the position of eccentric orfice, can make the upper and lower jaw of operation tweezers possess the required stroke range of work.Said structure can be realized performing the operation, and open the upper and lower jaw of tweezers optional position in stroke range or closure, therefore possesses pitching and folding degree of freedom simultaneously.
The silk wheel shaft rotates by the closed rope belt movable wire wheel nut that is wrapped on a wheel shaft and the silk wheel nut, and then drives from rotaring sleeve around self axis rotation, i.e. rotation degree of freedom.
2. the quick replacing manner of execution of end-of-arm tooling
The present invention can change different operation tool (hold as operation tweezers, surgical scissors, pin etc.) fast, in quick-replaceable location, locking and transmission that realizes end-of-arm tooling simultaneously.
The both sides, bottom surface of transmission case casing are formed with column pin hole respectively, and the position corresponding with column pin hole, motor frame end face both sides is respectively arranged with pin, to locate between realization transmission case casing and motor frame; In the localized while, go up clutch discs and three following clutch discs engagements, give first leading screw, second leading screw and silk wheel shaft for three the Motion Transmission of servomotor; Bottom, transmission case casing two sides is formed with two and protrudes grab, and the stretching hook in the retaining mechanism is hooked buckle, pulls handle downwards simultaneously, makes stretching hook generation deformation, to produce sizable pulling force, transmission case casing and motor frame is reliably locked.
3. the steel wire strainer is adjusted
Adjust screw, make two steel wire strainers be in suitable position, so that the tensioning respectively of the slack list of steel wire rope and pilled-in selvedge, the rotational lock nut is locked strainer afterwards.
Claims (7)
1. multi-freedom micro-mechanical arm for minimally invasive operation, include the last haulage gear (B) of base (A), end-of-arm tooling running part, the following haulage gear (C) of end-of-arm tooling running part, the free-wheeling system (D) of end-of-arm tooling running part, the actuator (E) and the transmission case casing (1) of end-of-arm tooling, in the base (A), three groups of servomotors (10) link to each other with three following clutch discs (7) by three shaft couplings (9) respectively, and three following clutch discs (7) are fixed on the motor frame (3) by three rolling bearings (8) respectively; Transmission case casing (1) is arranged on motor frame (3) upper surface; Last haulage gear (B), following haulage gear (C) and free-wheeling system (D) lay respectively at the inside of transmission case casing (1), last haulage gear (B), the upper end of following haulage gear (C) and free-wheeling system (D) is separately fixed in the end face of transmission case casing (1), the bottom surface that the lower end is passed transmission case casing (1) respectively links to each other with following clutch discs (7), the lower end of the last draw bar (11) of last haulage gear (B) is run through the last traction casing (13) of haulage gear (B) successively, linking to each other with the actuator (E) of end-of-arm tooling of the following traction casing (25) of following haulage gear (C) and free-wheeling system (D) from rotaring sleeve (33), the lower end of the following draw bar (22) of following haulage gear (C) is run through the following traction casing (25) of haulage gear (C) and linking to each other with the actuator (E) of end-of-arm tooling from rotaring sleeve (33) of free-wheeling system (D) down successively, the lower end from rotaring sleeve (33) of free-wheeling system (E) is connected with the actuator (E) of end-of-arm tooling, it is characterized in that the last haulage gear (B) of described end-of-arm tooling running part includes: go up draft arm (15); First leading screw (16) of middle part with last draft arm (15) by being threaded, the upper/lower terminal of first leading screw (16) is connected in the end face and bottom surface of transmission case casing (1) by rolling bearing (17,20) respectively, its lower end is run through transmission case casing (1) bottom surface and is linked to each other with last clutch discs (21), and last clutch discs (21) is arranged in the outside of transmission case casing (1) bottom surface and is meshed with the following clutch discs (7) of base (A); Be provided with the last traction casing (13) that runs through draft arm (15) by rolling bearing (12) in an end of last draft arm (15), run through traction casing (13) and be provided with the last draw bar (11) that the lower end connects the actuator (E) of end-of-arm tooling, the upper end of last draw bar (11) links to each other with last traction casing (13) by marking closely screw (14); Be provided with ball bushing (19) in the other end of last draft arm (15), run through ball bushing (19) and be provided with the axis of guide (18), the upper/lower terminal of the axis of guide (18) is separately fixed in the end face and bottom surface of transmission case casing (1).
2. multi-freedom micro-mechanical arm for minimally invasive operation according to claim 1 is characterized in that, the following haulage gear (C) of described end-of-arm tooling running part includes: following draft arm (26); Second leading screw (27) of middle part with following draft arm (26) by being threaded, the upper/lower terminal of second leading screw (27) is connected in the end face and bottom surface of transmission case casing (1) by rolling bearing (28,31) respectively, its lower end is run through transmission case casing (1) bottom surface and is linked to each other with last clutch discs (32), and last clutch discs (32) is arranged in the outside of transmission case casing (1) bottom surface and is meshed with the following clutch discs (7) of base (A); One end of infra draft arm (26) is provided with by rolling bearing (23) runs through the following traction casing (25) of draft arm (26) down, running through down, traction casing (25) is provided with the following draw bar (22) that the lower end connects the actuator (E) of end-of-arm tooling, the upper end of following draw bar (22) links to each other with following traction casing (25) by marking closely screw (24), the upper end of following traction casing (25) is formed with groove, is used for the lower end of the last traction casing (13) of last haulage gear (B) is placed groove; The other end of infra draft arm (26) is provided with ball bushing (30), runs through ball bushing (30) and is provided with the axis of guide (29), and the upper/lower terminal of the axis of guide (29) is separately fixed in the end face and bottom surface of transmission case casing (1).
3. multi-freedom micro-mechanical arm for minimally invasive operation according to claim 2, it is characterized in that, the free-wheeling system of described end-of-arm tooling running part (D) includes: silk wheel shaft (40), the upper/lower terminal of silk wheel shaft (40) is connected in the end face and bottom surface of transmission case casing (1) by rolling bearing (39,46) respectively, its lower end is run through transmission case casing (1) bottom surface and is linked to each other with last clutch discs (45), and last clutch discs (45) is arranged in the outside of transmission case casing (1) bottom surface and is meshed with the following clutch discs (7) of base (A); Silk wheel shaft (40) links to each other with silk wheel nut (36) by closed steel wire rope (47); The upper end of silk wheel nut (36) is provided with locking nut (37), the lower end is disposed with sliding shaft sleeve (35), rotation bearing (48), lower slider axle sleeve (34), and by running through wherein from rotaring sleeve (33); Upper end from rotaring sleeve (33) is formed with groove, is used for being formed with screw thread from the upper end of rotaring sleeve (33) with descending the lower end of the following traction casing (25) of haulage gear (C) to place groove, links to each other with a locking nut (37) and a silk wheel nut (36); Rotation bearing (48) is connected with the front of transmission case casing (1), rotation bearing (48) and upper and lower sliding shaft sleeve (35, the 34) part that links to each other be formed with can with from rotaring sleeve (33) through wherein structure; Last draw bar (11) and the following draw bar (22) in the following haulage gear (C) in the last haulage gear (B) place from rotaring sleeve (33), connect the actuator (E) of end-of-arm tooling from rotaring sleeve (33) lower end.
4. multi-freedom micro-mechanical arm for minimally invasive operation according to claim 2, it is characterized in that, the free-wheeling system of described end-of-arm tooling running part (D) includes: silk wheel shaft (40), the upper/lower terminal of silk wheel shaft (40) is connected in the end face and bottom surface of transmission case casing (1) by rolling bearing (39,46) respectively, its lower end is run through transmission case casing (1) bottom surface and is linked to each other with last clutch discs (45), and last clutch discs (45) is arranged in the outside of transmission case casing (1) bottom surface and is meshed with the following clutch discs (7) of base (A); Silk wheel shaft (40) links to each other with silk wheel nut (36) by closed steel wire rope (47); The upper end of silk wheel nut (36) is provided with locking nut (37), the lower end is disposed with ball (54), rotation bearing (48), following ball (55), and by running through wherein from rotaring sleeve (33); Upper end from rotaring sleeve (33) is formed with groove, is used for being formed with screw thread from the upper end of rotaring sleeve (33) with descending the lower end of the following traction casing (25) of haulage gear (C) to place groove, links to each other with a locking nut (37) and a silk wheel nut (36); Rotation bearing (48) is connected with the front of transmission case casing (1), rotation bearing (48) is formed with inner conical surface in two ends up and down, upper and lower ball (54,55) is even to be distributed on the inner conical surface, thus form can with from rotaring sleeve (33) through wherein and the structure of rotation; Last draw bar (11) and the following draw bar (22) in the following haulage gear (C) in the last haulage gear (B) place from rotaring sleeve (33), connect the actuator (E) of end-of-arm tooling from rotaring sleeve (33) lower end.
5. multi-freedom micro-mechanical arm for minimally invasive operation according to claim 2, it is characterized in that, the actuator of described end-of-arm tooling (E) includes: with last draw bar (11) lower end in the last haulage gear (B), and the maxillary (50) that links to each other from rotaring sleeve (33) lower end, with following draw bar (22) lower end in the following haulage gear (C) and the lower jaw (52) that links to each other from rotaring sleeve (33) lower end, maxillary (50), lower jaw is formed with centre bore and eccentric orfice respectively on (52), be formed with the connecting hole corresponding from rotaring sleeve (33) lower end with described centre bore, draw bar (11,22) lower end be formed with described on, lower jaw (50, the connecting hole of eccentric orfice correspondence 52), in the actuator of end-of-arm tooling (E), lower jaw (50,52) centre bore passes through mandrel (51) and links to each other from rotaring sleeve (33) lower end, the eccentric orfice of maxillary (50) links to each other with last draw bar (11) lower end by mandrel (49) simultaneously, and the eccentric orfice of lower jaw (52) links to each other with following draw bar (22) lower end by mandrel (53).
6. according to claim 3 or 4 described multi-freedom micro-mechanical arm for minimally invasive operation, it is characterized in that the both sides of described transmission case casing (1) also are respectively arranged with the steel wire strainer, include tensioning wheel seat (42); Be connected the regulating wheel (38) that is positioned at closed steel wire rope (47) outside of tensioning wheel seat (42) one ends by axle (41); Be connected transmission case casing (1) outside and run through the screw (43) of tensioning wheel seat (42) other end; And be arranged at locking nut (44) on the screw (43).
7. multi-freedom micro-mechanical arm for minimally invasive operation according to claim 1, it is characterized in that, the both sides, bottom surface of described transmission case casing (1) are formed with column pin hole respectively, the position corresponding with column pin hole, motor frame (3) end face both sides is respectively arranged with and is used for transmission case casing (1) and the mutual localized pin of motor frame (3) (2), thereby forms location structure; Bottom, transmission case casing (1) two sides is formed with grab respectively, motor frame (3) and its corresponding position be provided with motor frame (1) both sides by the hinged handle (5) of mandrel (6), hinged and be used for and the described grab stretching hook (4) of hook mutually with handle (5), thereby form retaining mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2007100567017A CN100479776C (en) | 2007-02-02 | 2007-02-02 | Multi-freedom micro-mechanical arm for minimally invasive operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2007100567017A CN100479776C (en) | 2007-02-02 | 2007-02-02 | Multi-freedom micro-mechanical arm for minimally invasive operation |
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| CN101011292A CN101011292A (en) | 2007-08-08 |
| CN100479776C true CN100479776C (en) | 2009-04-22 |
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| CNB2007100567017A Active CN100479776C (en) | 2007-02-02 | 2007-02-02 | Multi-freedom micro-mechanical arm for minimally invasive operation |
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| WO2016162883A1 (en) | 2015-04-08 | 2016-10-13 | Indian Institute Of Technology, Bombay | Surgical instrument with multiple degrees of freedom |
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