CN105748153A - Mechanical arm of assistant robot for minimally invasive surgery - Google Patents
Mechanical arm of assistant robot for minimally invasive surgery Download PDFInfo
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- CN105748153A CN105748153A CN201610353056.4A CN201610353056A CN105748153A CN 105748153 A CN105748153 A CN 105748153A CN 201610353056 A CN201610353056 A CN 201610353056A CN 105748153 A CN105748153 A CN 105748153A
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- connecting rod
- axle
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Heart & Thoracic Surgery (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The invention discloses a mechanical arm of an assistant robot for a minimally invasive surgery.The mechanical arm comprises a connecting base I and a connecting rod II.A parallelogram OPQR is formed by the axis of the connecting rod II, a connecting rod III, a connecting rod IV and a parallel line of the axis of a connecting base VIII.Under the driving of a motor I, a shaft II drives the connecting rod III to rotate around a point P, a shaft IV drives the connecting rod IV to rotate around a point Q, a shaft VI drives the connecting base VIII to rotate around a point R, the mechanical arm moves with a fixing point O as the center in a plane formed by the axis of the connecting rod II, the connecting rod III, the connecting rod IV and the parallel line of the axis of the connecting base VIII in a parallelogram pendulum mode.Under driving of a motor II, the connecting rod II rotates around the connecting rod II itself in the axial direction, and the mechanical arm does pendulum motion with the fixing point O as the center around the axis of the connecting rod II.The mechanical arm has the advantages of being accurate in transmission, high in reliability, large in movement range and system rigidity, long in service life, concise in appearance, small and light.
Description
Technical field
The present invention relates to the armarium in a kind of micro-wound surgical operation field, it can clamp operation tool assist physician and implement Minimally Invasive Surgery operation, particularly relates to the robot arm of the assisted minimally invasive surgical operation of a kind of Minimally Invasive Surgery operation being suitable for thoracic cavity and abdominal cavity.
Background technology
Being described as 20th century medical sciencies to one of significant contribution of human civilization with the minimally invasive surgery that laparoscopic surgery is representative, Minimally Invasive Surgery operation refers to that doctor utilizes elongated operation tool to be insinuated into internal being operated by the miniature incision of human body surface.It has the advantages such as operative incision is little, amount of bleeding is few, scar after the operation is little, recovery time is fast compared with traditional open surgery, and this makes the misery that patient suffers greatly reduce；It is widely used in clinical operation for this minimally invasive surgery.Minimally Invasive Surgery can bring many interests for patient, but the operation of doctor is added a series of difficulty, as: 1) owing to body surface inserts the restriction in hole, the degree of freedom of instrument reduces to four, and motility is substantially reduced；2) instrumentation direction is in opposite direction with the intuition of doctor, inaccurate coordination；3) shake of doctor's hand may be amplified by elongated operation tool；4) visual area is two dimensional surface imaging, lacks the sensation in the degree of depth；5) force feeling is lacked.Therefore, doctor has to pass through prolonged exercise can carry out Minimally Invasive Surgery operation, and nonetheless, current Minimally Invasive Surgery is also only applied only among the operation process that operation is relatively simple.Therefore, in micro-wound surgical operation field, carry out assist physician in the urgent need to a kind of robot system and can overcome drawbacks described above, it is easier to complete Minimally Invasive Surgery operation.At present, it is possible to the minimally invasive surgical operation robot system used clinically only has DaVinci series and Zeus system, but they shortcomings of having the aspect such as bulky, expensive.Miniaturization and low cost minimally-invasive surgery robot system are future developing trends.The invention provides that a kind of transmission is accurate, reliability is high, range of movement is big, system stiffness is big, the profile of long service life is succinct, miniaturization, light-weighted assisted minimally invasive surgical operation robot mechanical arm.
At present, robot realizes, for the active mechanical arm section clamping operation tool, the mode that Minimally Invasive Surgery operation requires mainly three kinds: 1) control joint linkage and realize, which by after carrying out relevant improvement to traditional industrial robot, operation tool is installed and carries out Minimally Invasive Surgery operation, it is possible to shorten the construction cycle of robot.But, the safety of this mode is poor, only uses the feasibility verifying some principle in the lab at present.2) adding passive joint, the operation tool that the advantage of this mode is elongated can adapt to the change in location of point of penetration automatically, it is believed that is safest a kind of mode.But, in operation process, the tissue around body surface otch can be subject to the active force that operation tool transmits, and control accuracy is also poor.3) constraint of mechanism itself, this mode is can to clamp the special machine robot mechanism that operation tool moves around body surface otch and realize by developing some, and conventional mainly has arc-shaped guide rail and double; two parallel-crank mechanisms.It is big that the robot system adopting the method exploitation of arc-shaped guide rail takies volume, the defect of the aspects such as motion coupling；The advantage that double; two parallel-crank mechanisms have the aspects such as structure is simplified, volume is little, lightweight, it it is a kind of mode being most widely used at present, but processing and the assembling of system are proposed significantly high requirement by it, owing to each connecting rod precision in the longitudinal direction of parallelogram is difficult to ensure that, the therefore kinematic accuracy of strong influence robot and rigidity.
The mechanical arm power transmission structure being applied to micro-wound surgical operation at present is mainly silk transmission, due to the elasticity of steel wire rope, makes steel wire rope easily stretchable under pull strength effect, and after using a period of time, silk gearing friction power reduces or lost efficacy, and loses the function of transmission.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided that a kind of transmission is accurate, reliability is high, range of movement is big, system stiffness is big, the profile of long service life is succinct, miniaturization, light-weighted assisted minimally invasive surgical operation robot mechanical arm, it can clamp operation tool assist physician and implement Minimally Invasive Surgery operation, and this system disclosure satisfy that operation tool inserts the requirement of hole motion all the time in operation process around body surface.
The invention provides that a kind of transmission is accurate, reliability is high, range of movement is big, system stiffness is big, the profile of long service life is succinct, miniaturization, light-weighted assisted minimally invasive surgical operation robot mechanical arm, and concrete scheme is as follows:
A kind of assisted minimally invasive surgical operation robot mechanical arm, including the arm I being sequentially connected with, arm II, arm III；Free end at arm I is provided with two drive motors I, II, free end at arm III connects a connection seat VIII for connecting operation tool, described arm I is parallel with the axis of arm III, arm II and the axis passing through connection seat VIII and the straight line parallel parallel with the axis of arm II, four constitute " parallelogram " structure；Arm I drives " parallelogram " structure to swing under the driving of drive motor I；Arm I drive under the driving of drive motor II whole mechanical arm in " parallelogram " with arm I, connect centered by the relative point in seat VIII cross point, the axis around arm I does oscillating motion.
Further, described arm I includes connecting rod II, axle II, and described connecting rod II is fixed on connection seat I, and axle II one end is driven it to rotate by motor I, and the other end drives the axle III perpendicular with it to rotate by a pair gear；Be provided with connection seat IV at the top of axle III, bottom is installed and is connected seat III, and the described seat IV that connects rotates relative to connection seat III under the driving of axle III；Described connecting rod II rotates under the driving of drive motor II, and connecting rod II fixes connection with being connected seat III.
Further, described arm II includes connecting rod III and axle IV, described axle III is rotated by a pair tooth wheel drive shaft IV, the end of axle IV drives the axle V perpendicular with it to rotate further through a pair gear, connection seat V is installed at the top of axle V, bottom is installed and is connected seat VI, and the described seat VI that connects rotates relative to connection seat V under the driving of axle V；Connection is fixed with being connected seat IV in described connecting rod III one end；The other end fixes connection with being connected seat V.
Further, described arm III is included connecting rod IV and axle VI, described axle V and is rotated by a pair tooth wheel drive shaft VI, and the end of axle VI drives the axle VII perpendicular with it to rotate further through a pair gear；Be provided with connection seat VIII at the top of axle VII, bottom is installed and is connected seat VII, and the described seat VIII that connects rotates relative to connection seat VII under the driving of axle VII；Connection is fixed with being connected seat VI in described connecting rod IV one end；The other end fixes connection with being connected seat VII.
Further, described connection seat VIII connects a quick union, installs operation tool on described quick union.
Further, described motor II drives connecting rod II to rotate by a pair gear；Geared end at drive motor II outfan fixes an electricity loss brake I, it is prevented that under powering-off state, and mechanical arm is centered by fixing point O point, and the axis around described connecting rod II does oscillating motion.
Further, described mechanical arm also includes an electricity loss brake II, it is fixed on described axle VII and on described connection seat VII, prevent mechanical arm under powering-off state from, centered by fixing point O point, doing " parallelogram " oscillating motion in the plane that axis and the parallel lines of axis of described connecting rod III of described connecting rod II, the parallel lines of the axis of described connecting rod IV and the parallel lines of the described axis connecting seat VIII are constituted.
Further, described connecting rod II, connecting rod III, connecting rod IV length relation should meet: when making connecting rod III rotate to the angle parallel with connecting rod II axis, connect seat V and connect seat VI all not be connected seat I and interfere；When connecting rod IV rotates to the angle with connecting rod III " axis is parallel ", connect seat VII and connect seat VIII all not with is connected seat III and connect seat IV interference.
Further, described connecting rod III and connecting rod IV can swing to the both sides of connecting rod II, make connecting rod IV rotate to the parallel lines of axis of connecting rod II and " intersection point " of connecting rod IV axis be positioned at " " intersection point " of axle VI and axle V and the position on " line segment " between axle VI and axle VII " intersection point " and there is not " interference " in mechanical arm self structure.
Further, described motor I, motor II can also replace with hydraulic motor or air motor.
The work process of the present invention is as follows:
The described axis of connecting rod II, the parallel lines of the axis of connecting rod III, the parallel lines of axis of described connecting rod IV and the parallel lines of the described axis connecting seat VIII constitute a parallelogram OPQR, and described fixing point O point be the intersection point of the parallel lines of the axis of the axis of described connecting rod II and described connection seat VIII.It is fixed on the axis of the described operation tool connected on seat VIII by fixing point O point.
Under motor I drives, connecting rod II be connected seat I geo-stationary, axle II drives connecting rod III around P point rotation axle IV simultaneously relative to connecting rod III rotation, axle IV drives connecting rod IV around Q point rotation axle VI simultaneously relative to connecting rod IV rotation, axle VI drives and connects seat VIII around the rotation of R point, mechanical arm, centered by fixing point O point, does " parallelogram " oscillating motion in the plane that axis and the parallel lines of axis of described connecting rod III of described connecting rod II, the parallel lines of the axis of described connecting rod IV and the parallel lines of the described axis connecting seat VIII are constituted.
Under motor II drives, connecting rod II is relative to connecting seat I rotation, and mechanical arm is centered by fixing point O point, and the axis around described connecting rod II does oscillating motion.
Coordinating under driving at motor I and motor II, operation tool can be made to do ball shape rotary motion around fixing point O point.By making the point of penetration " coincidence " of this fixing point O point and body operation position, it is possible to by mechanical arm positioning operation instrument safely, and human body stomach wall is not applied dangerous active force.
The present invention compared with prior art has the advantages that for assisted minimally invasive surgical operation robot mechanical arm
1. transmission is accurate, reliability is high, range of movement is big, system stiffness is big, long service life, profile succinct, miniaturization, light-weighted advantage by adopting gear-driven form to make mechanism have for apparatus of the present invention；Apparatus of the present invention have the range of movement of bigger operation tool, reduce the size of mechanical arm, alleviate its weight.
2. apparatus of the present invention realize the requirement of point of penetration constraint in micro-wound surgical operation process by the constraint of mechanism self, meet operation tool in operation process, insert the requirement of hole motion all the time around body surface, do not introduce redundant degree of freedom, mechanical arm positioning operation instrument safely can be passed through, and human body stomach wall is not applied dangerous active force, it is ensured that the safety in use；
3. apparatus of the present invention have the advantage of the double; two parallel-crank mechanisms being applied, but overcome double; two parallel-crank mechanism and process and assemble requires this shortcoming harsh, thus advantageously ensuring that kinematic accuracy and the system stiffness of robot；
4. transmission is accurate, reliability is high, the advantage of long service life by adopting gear-driven form to make mechanism have for apparatus of the present invention；Overcoming a kind of drive due to the elasticity of steel wire rope, make steel wire rope easily stretchable under pull strength effect, after using a period of time, silk gearing friction power reduces or lost efficacy, and loses the defect of the function of transmission；
5. the potentiality that the operation in the fields such as apparatus of the present invention application is the micro-wound surgical operation towards thoracic cavity and field, abdominal cavity, other field oriented such as otorhinolaryngology is expanded；
6. apparatus of the present invention are insinuated into above patient body by the arm section clamping operation tool of " parallelogram " layout and carry out Minimally Invasive Surgery operation at a distance, and this structure can be greatly saved robot and take the space above patient body；
7. apparatus of the present invention can the multiple supporting operational tool of quick-replaceable, it is possible to fully meets Minimally Invasive Surgery and operates multifarious requirement.
8. apparatus of the present invention can clamp the operation of Endoscope-assisted Minimally Invasive Surgery, it is possible to frees holding mirror doctor from dull, tired holding mirror work.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is not necessarily to scale, it is only be illustratively described the present invention, drawings discussed below is only some embodiments in the present invention, it not the restriction present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the main TV structure schematic diagram of the embodiment one of the present invention a kind of assisted minimally invasive surgical operation robot mechanical arm.
Fig. 2 is the plan structure schematic diagram of the embodiment one of a kind of assisted minimally invasive surgical operation robot mechanical arm of the present invention.
Fig. 3 is extreme position one schematic diagram of the embodiment one meeting operation technique demand of a kind of assisted minimally invasive surgical operation robot mechanical arm of the present invention.
Fig. 4 is extreme position two schematic diagram of the embodiment one meeting operation technique demand of a kind of assisted minimally invasive surgical operation robot mechanical arm of the present invention.
Fig. 5 is the main TV structure schematic diagram of the embodiment two of the present invention a kind of assisted minimally invasive surgical operation robot mechanical arm.
Fig. 6 is the plan structure schematic diagram of the embodiment two of a kind of assisted minimally invasive surgical operation robot mechanical arm of the present invention.
Fig. 7 is extreme position one schematic diagram of the embodiment two meeting operation technique demand of a kind of assisted minimally invasive surgical operation robot mechanical arm of the present invention.
Fig. 8 is extreme position two schematic diagram of the embodiment two meeting operation technique demand of a kind of assisted minimally invasive surgical operation robot mechanical arm of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete description, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Embodiment 1
As shown in Figure 1 and Figure 2, the invention provides that a kind of transmission is accurate, reliability is high, range of movement is big, system stiffness is big, the profile of long service life is succinct, miniaturization, light-weighted assisted minimally invasive surgical operation robot mechanical arm.It includes the arm I2, arm II4, the arm III6 that are sequentially connected with；It is connected by connecting device 3 between arm I2 and arm II4；It is connected by connecting device 5 between arm II4 and arm III6, free end at arm I2 is provided with driving device 1, specifically include two drive motors I1-1, II1-2, free end at arm III6 connects a connecting device 7 for connecting operation tool, described arm I is parallel with the axis of arm III, arm II and the axis passing through connection seat VIII and the straight line parallel parallel with the axis of arm II, four constitute " parallelogram " structure；Arm I drives " parallelogram " structure to swing under the driving of drive motor I；Arm I drive under the driving of drive motor II whole mechanical arm in " parallelogram " with arm I, connect centered by the relative point in seat VIII cross point, the axis around arm I does oscillating motion.
Wherein arm I includes connecting rod II, axle II；Arm II includes connecting rod III and axle IV；Described arm III includes connecting rod IV and axle VI；Annexation concrete between all parts and position relationship are as follows:
Described motor I1-1 is fixed on described connection seat II2-1, and the described seat II1-9 that connects is fixed on described gear I1-5, and described gear I1-5 is fixed on described connecting rod II2-1.Described decelerator I1-3 is fixed on described connection seat II1-9, described motor I1-1 is connected with described decelerator I1-3, described motor I1-1 outputs power to described decelerator I1-3 and drives described decelerator I1-3 to rotate, the outfan of described decelerator I1-3 is connected by connector is fixing with described axle II2-2, described decelerator I1-3 outputs power to described axle II2-2 and drives described axle II2-2 to rotate, described axle II2-2 is coordinated with described connecting rod II2-1 and axial restraint by bearing and end cap, described axle II2-2 can relative to described connecting rod II2-1 around own axis.
nullFurther，Described motor II1-2 is fixed on described connection seat I1，Described decelerator II1-4 is fixed on described connection seat I1,Described motor II1-2 is connected with decelerator II1-4，Described motor II1-2 outputs power to described decelerator II1-4 and drives described decelerator II1-4 to rotate，The outfan of described decelerator II1-4 is connected by connector is fixing with described gear II1-6，Described decelerator II1-4 outputs power to described gear II1-6 and drives described gear II1-6 to rotate，Described gear II1-6 coordinates with described gear I1-5，Described gear II1-6 outputs power to described gear I1-5 and drives described gear I1-5 to rotate，Described gear I1-5 is fixed on described connecting rod II2-1，Described gear I1-5 outputs power to described connecting rod II2-1 and drives described connecting rod II2-1 to rotate.Described connecting rod II2-1 is coordinated with described connection seat I1 and axial restraint by bearing and end cap, and described connecting rod II2-1 can relative to described connection seat I1 around own axis.
Further, described connecting rod II2-1 and described connection seat III3-1 is fixing to be connected, described axle II2-2 and described gear III3-4 is fixing to be connected, described axle II2-2 outputs power to described gear III3-4 and drives described gear III3-4 to rotate, described gear III3-4 coordinates with described gear IV3-5, described gear III3-4 outputs power to described gear IV3-5 and drives described gear IV3-5 to rotate, described gear IV3-5 is fixed on described axle III3-3, described gear IV3-5 outputs power to described axle III3-3 and drives described axle III3-3 to rotate.Described axle III3-3 is coordinated with described connection seat III3-1 and axial restraint by bearing and end cap, and described axle III3-3 can relative to described connection seat III3-1 around own axis.Described axle III3-3 and described connection seat IV3-2 is fixing to be connected, and described axle III3-3 outputs power to the described seat IV3-2 that connects and drives described connection seat IV3-2 to rotate.The described seat IV3-2 that connects is coordinated with described connection seat III3-1 and axial restraint by bearing and end cap, and described connection seat IV3-2 can relative to described connection seat III3-1 around own axis.Described connection seat IV3-2 and described connecting rod III4-1 is fixing to be connected.Described gear V3-6 is fixed on described connection seat III3-1, and described axle III3-3 can relative to described gear V3-6 around own axis.Described gear V3-6 coordinates with described gear VI3-7, described gear V3-6 outputs power to described gear VI3-7 and drives described gear VI3-7 to rotate, described gear VI3-7 is fixed on described axle IV4-2, and described gear VI3-7 outputs power to described axle IV4-2 and drives described axle IV4-2 to rotate.Described axle IV4-2 is coordinated with described connecting rod III4-1 and axial restraint by bearing and end cap, and described axle IV4-2 can relative to described connecting rod III4-1 around own axis.
Described connecting rod III4-1 and described connection seat V5-1 is fixing to be connected, described axle IV4-2 and described gear VII5-4 is fixing to be connected, described axle IV4-2 outputs power to described gear VII5-4 and drives described gear VII5-4 to rotate, described gear VII5-4 coordinates with described gear VIII5-5, described gear VII5-4 outputs power to described gear VIII5-5 and drives described gear VIII5-5 to rotate, described gear VIII5-5 is fixed on described axle V5-3, described gear VIII5-5 outputs power to described axle V5-3 and drives described axle V5-3 to rotate.Described axle V5-3 is coordinated with described connection seat V5-1 and axial restraint by bearing and end cap, and described axle V5-3 can relative to described connection seat V5-1 around own axis.Described axle V5-3 and described connection seat VI5-2 is fixing to be connected, and described axle V5-3 outputs power to the described seat VI5-2 that connects and drives described connection seat VI5-2 to rotate.The described seat VI5-2 that connects is coordinated with described connection seat V5-1 and axial restraint by bearing and end cap, and described connection seat VI5-2 can relative to described connection seat V5-1 around own axis.Described connection seat VI5-2 and described connecting rod IV6-1 is fixing to be connected.Described gear IX5-6 is fixed on described connection seat V5-1, and described axle V5-3 can relative to described gear IX5-6 around own axis.Described gear IX5-6 coordinates with described gear X5-7, described gear IX5-6 outputs power to described gear X5-7 and drives described gear X5-7 to rotate, described gear X5-7 is fixed on described axle VI6-2, and described gear X5-7 outputs power to described axle VI6-2 and drives described axle VI6-2 to rotate.Described axle VI6-2 is coordinated with described connecting rod IV6-1 and axial restraint by bearing and end cap, and described axle VI6-2 can relative to described connecting rod IV6-1 around own axis.
Described connecting rod IV6-1 and described connection seat VII7-1 is fixing to be connected, described axle VI6-2 and described gear XI7-4 is fixing to be connected, described axle VI6-1 outputs power to described gear XI7-4 and drives described gear XI7-4 to rotate, described gear XI7-4 coordinates with described gear XII7-5, described gear XI7-4 outputs power to described gear XII7-5 and drives described gear XII7-5 to rotate, described gear XII7-5 is fixed on described axle VII7-3, described gear XII7-5 outputs power to described axle VII7-3 and drives described axle VII7-3 to rotate.Described axle VII7-3 is coordinated with described connection seat VII7-1 and axial restraint by bearing and end cap, and described axle VII7-3 can relative to described connection seat VII7-1 around own axis.Described axle VII7-3 and described connection seat VIII7-2 is fixing to be connected, and described axle VII7-3 outputs power to the described seat VIII7-2 that connects and drives described connection seat VIII7-2 to rotate.The described seat VIII7-2 that connects is coordinated with described connection seat VII7-1 and axial restraint by bearing and end cap, and described connection seat VIII7-2 can relative to described connection seat VII7-1 around own axis.Hydraulic quick coupler I is fixed on described connection seat VIII7-2, and operation tool is fixed on described hydraulic quick coupler I.
Described electricity loss brake I1-11 is fixed on described gear II1-6 and on described connection seat I1, it is prevented that under powering-off state, mechanical arm is centered by fixing point O point, and the axis around described connecting rod II2-1 does oscillating motion.Described electricity loss brake II7-9 is fixed on described axle VII7-3 and on described connection seat VII7-1, prevent mechanical arm under powering-off state from, centered by fixing point O point, doing " parallelogram " oscillating motion in the plane that axis and the parallel lines of axis of described connecting rod III4-1 of described connecting rod II2-1, the parallel lines of the axis of described connecting rod IV6-1 and the parallel lines of the described axis connecting seat VIII7-2 are constituted.
The work process of the present invention is as follows:
The described axis of connecting rod II2-1, the parallel lines of the axis of connecting rod III4-1, the parallel lines of axis of described connecting rod IV6-1 and the parallel lines of the described axis connecting seat VIII7-2 constitute a parallelogram OPQR, and described fixing point O point be the intersection point of the parallel lines of the axis of the axis of described connecting rod II2-1 and described connection seat VIII7-2.It is fixed on the axis of the described operation tool connected on seat VIII7-2 by fixing point O point.
Under motor I1-1 drives, connecting rod II2-1 be connected seat I1 geo-stationary, axle II2-1 drives connecting rod III4-1 around P point rotation axle IV4-2 simultaneously relative to connecting rod III4-1 rotation, axle IV4-2 drives connecting rod IV6-1 around Q point rotation axle VI6-2 simultaneously relative to connecting rod IV6-1 rotation, axle VI6-2 drives and connects seat VIII7-2 around the rotation of R point, mechanical arm is centered by fixing point O point, the parallel lines of axis at axis and the described connecting rod III4-1 of described connecting rod II2-1, " parallelogram " oscillating motion is done in the plane that the parallel lines of the axis of described connecting rod IV6-1 and the parallel lines of the described axis connecting seat VIII7-2 are constituted.
Under motor II1-2 drives, connecting rod II2-1 is relative to connecting seat I1 rotation, and mechanical arm is centered by fixing point O point, and the axis around described connecting rod II2-1 does oscillating motion.
Coordinating under driving at motor I1-1 and motor II1-2, operation tool can be made to do ball shape rotary motion around fixing point O point.By making the point of penetration " coincidence " of this fixing point O point and body operation position, it is possible to by mechanical arm positioning operation instrument safely, and human body stomach wall is not applied dangerous active force.
As the further improvement of such scheme, described driving device can be motor, hydraulic motor or air motor.
A kind of assisted minimally invasive surgical operation robot mechanical arm that the present invention proposes can be changed to a kind of example structure additionally below, mechanical arm can be made to obtain bigger slewing area, to meet operation technique requirement more broadly, adapt to different application scenarios for greater flexibility, such as Fig. 5 and Fig. 6, specific as follows:
Embodiment 2
On the basis of the technical scheme of embodiment one, connecting rod IV6-1 and connecting rod II2-1 is separately mounted to " both sides " of connecting rod III4-1, the length relation that connecting rod II2-1, connecting rod III4-1, connecting rod IV6-1 design is suitable, when making connecting rod III4-1 rotate to the angle with connecting rod II2-1 " axis is parallel ", connect seat V5-1 and connect seat VI5-2 all not with is connected seat I1 generation " interference "；When connecting rod IV6-1 rotates to the angle with connecting rod III4-1 " axis is parallel ", connect seat VII7-1 and connect seat VIII7-2 all not with is connected seat III3-1 and connection seat IV3-2 " interference ".Connecting rod III4-1 and connecting rod IV6-1 can swing to " both sides " (such as Fig. 7 view direction) of connecting rod II2-1, connecting rod IV6-1 is made to rotate to " intersection point " of parallel lines of the axis of connecting rod II2-1 and the axis of connecting rod IV6-1 position between line segment QR 2 and " interference " does not occur mechanical arm self structure, so that mechanical arm obtains bigger slewing area, to meet operation technique requirement more broadly, adapt to different application scenarios for greater flexibility.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all in the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included in protection scope of the present invention.
The specific embodiment of the present invention is described in conjunction with accompanying drawing although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme, those skilled in the art need not pay various amendments or deformation that creative work can make still within protection scope of the present invention.
Claims (10)
1. an assisted minimally invasive surgical operation robot mechanical arm, it is characterised in that: include the arm I, arm II, the arm III that are sequentially connected with；Free end at arm I is provided with two drive motors I, II, free end at arm III connects a connection seat VIII for connecting operation tool, described arm I is parallel with the axis of arm III, arm II and the axis passing through connection seat VIII and the straight line parallel parallel with the axis of arm II, four constitute " parallelogram " structure；Arm I drives " parallelogram " structure to swing under the driving of drive motor I；Arm I drive under the driving of drive motor II whole mechanical arm in " parallelogram " with arm I, connect centered by the relative point in seat VIII cross point, the axis around arm I does oscillating motion.
2. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 1, it is characterized in that: described arm I includes connecting rod II, axle II, described connecting rod II is fixed on connection seat I, axle II one end is driven it to rotate by motor I, and the other end drives the axle III perpendicular with it to rotate by a pair gear；Be provided with connection seat IV at the top of axle III, bottom is installed and is connected seat III, and the described seat IV that connects rotates relative to connection seat III under the driving of axle III；Described connecting rod II rotates under the driving of drive motor II, and connecting rod II fixes connection with being connected seat III.
3. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 2, it is characterised in that: described motor II drives connecting rod II to rotate by a pair gear；Geared end at drive motor II outfan fixes an electricity loss brake I.
4. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 2, it is characterized in that: described arm II includes connecting rod III and axle IV, described axle III is rotated by a pair tooth wheel drive shaft IV, the end of axle IV drives the axle V perpendicular with it to rotate further through a pair gear, connection seat V is installed at the top of axle V, bottom is installed and is connected seat VI, and the described seat VI that connects rotates relative to connection seat V under the driving of axle V；Connection is fixed with being connected seat IV in described connecting rod III one end；The other end fixes connection with being connected seat V.
5. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 4, it is characterized in that: described arm III includes connecting rod IV and axle VI, described axle V is rotated by a pair tooth wheel drive shaft VI, and the end of axle VI drives the axle VII perpendicular with it to rotate further through a pair gear；Be provided with connection seat VIII at the top of axle VII, bottom is installed and is connected seat VII, and the described seat VIII that connects rotates relative to connection seat VII under the driving of axle VII；Connection is fixed with being connected seat VI in described connecting rod IV one end；The other end fixes connection with being connected seat VII.
6. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 5, it is characterised in that: described mechanical arm also includes an electricity loss brake II, and it is fixed on described axle VII and on described connection seat VII.
7. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 5, it is characterised in that: described connection seat VIII connects a quick union, installs operation tool on described quick union.
8. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 5, it is characterized in that: described connecting rod II, connecting rod III, connecting rod IV length relation should meet: when making connecting rod III rotate to the angle parallel with connecting rod II axis, connect seat V and connect seat VI all not be connected seat I and interfere；When connecting rod IV rotates to the angle with connecting rod III " axis is parallel ", connect seat VII and connect seat VIII all not with is connected seat III and connect seat IV interference.
9. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 5, it is characterized in that: described connecting rod III and connecting rod IV can swing to the both sides of connecting rod II, make connecting rod IV rotate to the parallel lines of axis of connecting rod II and " intersection point " of connecting rod IV axis be positioned at " " intersection point " of axle VI and axle V and the position on " line segment " between axle VI and axle VII " intersection point " and there is not " interference " in mechanical arm self structure.
10. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 1, it is characterised in that described motor I, motor II can also replace with hydraulic motor or air motor.
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| CN201610353056.4A CN105748153B (en) | 2016-05-24 | 2016-05-24 | A kind of assisted minimally invasive surgical operation robot mechanical arm |
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| CN201610353056.4A CN105748153B (en) | 2016-05-24 | 2016-05-24 | A kind of assisted minimally invasive surgical operation robot mechanical arm |
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| CN107639627A (en) * | 2017-09-29 | 2018-01-30 | 重庆金山医疗器械有限公司 | Parallelogram drive mechanism |
| CN107647916A (en) * | 2017-09-29 | 2018-02-02 | 重庆金山医疗器械有限公司 | The master arm of operating robot |
| CN108042208A (en) * | 2017-11-15 | 2018-05-18 | 重庆金山医疗器械有限公司 | Micro-wound operation robot master arm |
| CN108056822A (en) * | 2018-01-08 | 2018-05-22 | 苏风波 | A kind of surgery auxiliary machinery arm |
| CN111374770A (en) * | 2018-12-29 | 2020-07-07 | 深圳市达科为智能医学有限公司 | Pitching mechanical arm of medical robot |
| CN112971990A (en) * | 2021-02-03 | 2021-06-18 | 山东省千佛山医院 | Mechanical arm for minimally invasive surgical robot |
| CN113796818A (en) * | 2021-08-27 | 2021-12-17 | 天津大学医疗机器人与智能系统研究院 | Force balancing mechanical arm |
| CN113813048A (en) * | 2021-10-12 | 2021-12-21 | 中南大学 | Four-freedom-degree far-end motion center mechanism of surgical robot |
| CN117224242A (en) * | 2023-11-10 | 2023-12-15 | 南方医科大学南方医院 | Rotary driving device for remote operation robot |
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| CN106236267A (en) * | 2016-08-18 | 2016-12-21 | 山东大学齐鲁医院 | A kind of assisted minimally invasive surgical operation robot mechanical arm arrangements structure |
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| CN108042208A (en) * | 2017-11-15 | 2018-05-18 | 重庆金山医疗器械有限公司 | Micro-wound operation robot master arm |
| CN108042208B (en) * | 2017-11-15 | 2024-05-03 | 重庆金山医疗机器人有限公司 | Active arm of minimally invasive surgery robot |
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| CN108056822A (en) * | 2018-01-08 | 2018-05-22 | 苏风波 | A kind of surgery auxiliary machinery arm |
| CN111374770A (en) * | 2018-12-29 | 2020-07-07 | 深圳市达科为智能医学有限公司 | Pitching mechanical arm of medical robot |
| CN112971990A (en) * | 2021-02-03 | 2021-06-18 | 山东省千佛山医院 | Mechanical arm for minimally invasive surgical robot |
| CN112971990B (en) * | 2021-02-03 | 2022-03-04 | 山东省千佛山医院 | Mechanical arm for minimally invasive surgical robot |
| CN113796818A (en) * | 2021-08-27 | 2021-12-17 | 天津大学医疗机器人与智能系统研究院 | Force balancing mechanical arm |
| CN113796818B (en) * | 2021-08-27 | 2024-03-19 | 天津大学医疗机器人与智能系统研究院 | Force balance instrument arm |
| CN113813048A (en) * | 2021-10-12 | 2021-12-21 | 中南大学 | Four-freedom-degree far-end motion center mechanism of surgical robot |
| CN117224242A (en) * | 2023-11-10 | 2023-12-15 | 南方医科大学南方医院 | Rotary driving device for remote operation robot |
| CN117224242B (en) * | 2023-11-10 | 2024-01-09 | 南方医科大学南方医院 | Rotary driving device for remote operation robot |
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