CN106965178A - It is a kind of to be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration - Google Patents
It is a kind of to be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration Download PDFInfo
- Publication number
- CN106965178A CN106965178A CN201710216697.XA CN201710216697A CN106965178A CN 106965178 A CN106965178 A CN 106965178A CN 201710216697 A CN201710216697 A CN 201710216697A CN 106965178 A CN106965178 A CN 106965178A
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- China
- Prior art keywords
- pair
- minimally invasive
- invasive surgery
- branch
- symmetrical configuration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 title claims abstract description 25
- 208000027418 Wounds and injury Diseases 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000001186 cumulative effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002980 postoperative effect Effects 0.000 description 2
- 241001631457 Cannula Species 0.000 description 1
- 208000004550 Postoperative Pain Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000033772 system development Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
Abstract
It is used for Minimally Invasive Surgery and the parallel institution of symmetrical configuration the invention discloses a kind of, belongs to Minimally Invasive Surgery equipment technical field.The micro-wound operation robot volume of prior art is larger, complicated, it is cumbersome, costly to control, in popularization and application also by more limitation, it is necessary to further improve.The present invention includes annular base, moving platform, operating theater instruments installed part and four branches, and described branch upper end is connected with moving platform, and lower end is movably connected on annular base by kinematic pair；Adjacent connecting rod is connected by kinematic pair in described each branch, and branch is connected with annular base by cylindrical pair.Mechanism of the present invention is the parallel institution of a symmetrical configuration, it is possible to achieve 3 around fixing point needed for Minimally Invasive Surgery rotate and 1 free degree.Actuator uses the sliding pair in cylindrical pair, the cost of reductor can be saved using fixed sliding pair as drive pair, while the load-carrying properties of mechanism can be improved.
Description
Technical field
It is used for the mechanism of Minimally Invasive Surgery and symmetrical configuration the present invention relates to a kind of, belongs to Minimally Invasive Surgery equipment technical field.
Background technology
Minimally Invasive Surgery cuts open the chest to have the following advantages that compared with operation with traditional：Otch is small, and damage is light, safely and effectively, can be with
Internal organs exposure is avoided in atmosphere to reduce infection；The postoperative pain of patient can be reduced, patients ' recovery is very fast and can be
Postoperative to recover normal activity in a short time, therapeutic effect is equal to or higher than traditional surgery method；Postoperative wound compares conventional surgical
Operation is attractive in appearance, and scar is small after healing.And continuous application and development with Minimally Invasive Surgery in clinical operation, with higher operation
Precision and the micro-wound operation robot of simple operation also arise at the historic moment.Computer Motion companies of the U.S. grind within 1994
The endoscope automatic station-keeping system i.e. AESOP robots that First assists Minimally Invasive Surgery are made, it uses cascaded structure；1998
ZEUS Minimally Invasive Surgery operation robots are released, the system uses master-slave operation technology；Da Vinci system developments success in 2000
And ratify to turn into first legal commercialization operating robot of the permission in Clinical practice through U.S. FDA July then, it is
Through for clinical and obtain good effect.
But because existing micro-wound operation robot volume is larger, complicated, it is cumbersome, costly to control, promoting
Using when also by more limitation, it is necessary to further improve.For drawbacks described above present in currently available technology, it is necessary in fact
Researched and developed, solve defect present in prior art.
The content of the invention
For the defect of prior art, it is an object of the invention to provide a kind of small volume, compact conformation, control is simple,
A kind of low mechanism for Minimally Invasive Surgery and symmetrical configuration of cost.
To achieve the above object, the technical scheme is that：
It is a kind of to be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration, including annular base, moving platform, operating theater instruments installed part
With four branches, described branch upper end is connected with moving platform, and lower end is movably connected in annular by kinematic pair
On base；Adjacent connecting rod is connected by kinematic pair in described each branch, and branch and annular base
It is connected by cylindrical pair.The present invention is parallel institution, and each branch is five degree of freedom, the rotation of branch and is turned
To more flexibly, reach and rotate the requirement without dead angle；Four common drive surgical tools of branch are moved and not only ensured
Higher rigidity, and motion cumulative errors are less than serial mechanism, improve operation precision.Further, on described moving platform
Provided with the operating theater instruments installed part for Minimally Invasive Surgery.
Further, four branches are distributed on annular base and are connected respectively with moving platform at equal intervals
Connect, control moving platform motion, so that drive surgical tools are moved.
Further, the Liang Ge branches in four described branches include being connected to moving platform and annulus in turn
The first screw pair, first connecting rod, the second revolute pair, second connecting rod, the 3rd revolute pair, third connecting rod, cylinder between shape base
Secondary hinged set and the slide bar as cylindrical pair sliding rail.
Further, other Liang Ge branches in four described branches include being connected to the first spiral in turn
The first revolute, first connecting rod, the second revolute pair, second connecting rod between secondary and annular base, the 3rd revolute pair, the 3rd company
Bar, the hinged set of cylindrical pair and the slide bar as cylindrical pair sliding rail.
Further, the second revolute pair axis and the 3rd revolute pair axis are parallel to each other and perpendicular to the first turns auxiliary shaft
Line and cylindrical pair rotation axis；All cylindrical pair rotation axis intersect at the fixation on the first revolute pair axis simultaneously
Point.
Each branch is five degree of freedom, and the rotation and steering of branch are more flexible, reach rotation without dead angle
Requirement；Four common drive surgical tools of branch, which are moved, not only ensures higher rigidity, and the accumulative mistake of motion
Difference is less than serial mechanism, improves operation precision.
Further, the prismatic pair in four branches in cylindrical pair sets corresponding servomotor to be driven.
Further, the lower end connection operation tool of operating theater instruments installed part, is stretched by the central cavity of annular base
Enter below annular base；The axis co-axial of the pivot center of operating theater instruments installed part and the annular groove of the first revolute pair and logical
Cross O points.The present invention not only meets the requirement of Minimally Invasive Surgery, and reduces the injury to otch, and security is higher.
Further, the incision site of human body is placed with puncture cannula, and operation tool is stretched into human body after passing through puncture cannula；
Four branches control the motion of operation tool, including using incision site as the swing of origin, along operating theater instruments
Installed part axis direction it is flexible, and around the rotation of tool axis.
Compared with prior art, the invention has the advantages that：
1. the present invention is parallel institution, each branch is five degree of freedom, and the rotation and steering of branch are more
Flexibly, requirement of the rotation without dead angle is reached；Four common drive surgical tools of branch are moved and not only ensure higher
Rigidity, and motion cumulative errors are less than serial mechanism, improve operation precision.
2. the present invention not only meets the requirement of Minimally Invasive Surgery, and reduces the injury to otch, security is higher.
3. the present invention, as actuator, realizes three needed for Minimally Invasive Surgery from the prismatic pair in four branch's cylindrical pairs
One one-movement-freedom-degree of individual rotation, without mounting rotary electric machine above operation tool, reduces the quality of moving platform, improves
The dynamic performance of mechanism.
4. the present invention can be used as the simulation surgical instrument of teaching, training；Therefore, the present invention is for improving entering for Minimally Invasive Surgery
One step is promoted significant.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is a kind of branch's schematic diagram of the invention；
Fig. 3 is another branch's schematic diagram of the invention；
Fig. 4 is working state schematic representation of the present invention.
Description of reference numerals：
In figure：11- first connecting rods；12- second connecting rods；13- third connecting rods；14- slide bars；The revolute pairs of 21- first；22-
Two revolute pairs；The revolute pairs of 23- the 3rd；24- cylindrical pairs；31- fourth links；The connecting rods of 32- the 5th；33- six-bar linkages；34- slide bars；
The revolute pairs of 41- the 4th；The revolute pairs of 42- the 5th；43- ball pairs；5- annular bases；51- central cavities；6- moving platforms；7- performs the operation
Instrument；9- incision sites；10- puncture cannulas.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
On the contrary, the present invention covers any replacement done in the spirit and scope of the present invention being defined by the claims, repaiied
Change, equivalent method and scheme.Further, in order that the public has a better understanding to the present invention, below to the thin of the present invention
It is detailed to describe some specific detail sections in section description.Part without these details for a person skilled in the art
Description can also understand the present invention completely.
As Figure 1-4, a kind of mechanism for Minimally Invasive Surgery and symmetrical configuration, including annular base 5, moving platform 6,
Operating theater instruments installed part and four branches, described branch upper end are connected with moving platform 6, and lower end is lived by kinematic pair
It is dynamic to be connected on annular base 5；Adjacent connecting rod is connected by kinematic pair in described each branch, branch
It is connected with annular base 5 by cylindrical pair 24.
Described moving platform 6 is provided with the operating theater instruments installed part for Minimally Invasive Surgery.Between described four branches etc.
Away from be distributed on annular base 5 and respectively with moving platform 6 and be connected, control moving platform 6 is moved.
Liang Ge branches in four described branches include being connected to moving platform 6 and annular base 5 in turn
Between the first revolute pair 21, first connecting rod 11, the second revolute pair 22, second connecting rod 12, the 3rd revolute pair 23, third connecting rod
13rd, the hinged set of cylindrical pair 24 and the slide bar 14 as the sliding rail of cylindrical pair 24.The axis of second revolute pair 22 and the 3rd turn
Dynamic secondary 23 axis is parallel to each other and perpendicular to the axis of the first revolute pair 21 and the rotation axis of cylindrical pair 24；All cylindrical pairs 24
Rotation axis intersects at the fixing point on the axis of the first revolute pair 21 simultaneously.
A branch in three described branches includes being connected to moving platform 6 and annular base 5 in turn
Between the 4th revolute pair 41, fourth link 31, the 5th revolute pair 42, the 5th connecting rod 32 and be connected with annular base 5
Ball pair 43.
The lower end connection operation tool 7 of operating theater instruments installed part, annulus is stretched into by the central cavity 51 of annular base 5
The lower section of shape base 5；The axis co-axial of the pivot center of operating theater instruments installed part and the annular groove of the first revolute pair 21 and pass through O
Point.
The incision site 9 of human body is placed with puncture cannula 10, and operation tool 7 is stretched into human body after passing through puncture cannula 10；Institute
State the motion that three branches control operation tool 7, including using incision site 9 as the swing of origin, along operating theater instruments
Flexible, and the rotation under the driving of motor 8 of installed part axis direction.
Revolute pair, cylindrical pair 24, ball pair 43, sliding pair set corresponding servomotor or stepper motor to be driven respectively
It is dynamic.Preferably servomotor, Serve Motor Control program is simple and can accurately control rotation amount, can effectively improve this
The kinematic accuracy of invention.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration, including annular base (5), moving platform (6), operating theater instruments peace
Piece installing and four branches, it is characterised in that described branch upper end is connected with moving platform (6), lower end pass through motion
Pair is movably connected on annular base (5)；Adjacent connecting rod is connected by kinematic pair in described each branch, point
Branch mechanism is connected with annular base (5) by cylindrical pair.
2. a kind of as claimed in claim 1 be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration, it is characterised in that described is dynamic flat
Platform (6), which is provided with, to be used for so that the motor (8) of operating theater instruments installed part rotation and the operating theater instruments installed part for Minimally Invasive Surgery.
3. a kind of as claimed in claim 1 be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration, it is characterised in that described four points
Branch mechanism is distributed on annular base (5) and respectively with moving platform (6) at equal intervals to be connected, control moving platform (6) motion.
4. a kind of as claimed in claim 1 be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration, it is characterised in that described four
Liang Ge branches in branch include the first spiral being connected in turn between moving platform (6) and annular base (5)
Secondary (21), first connecting rod (11), the second revolute pair (22), second connecting rod (12), the 3rd revolute pair (23), third connecting rod (13),
The hinged set of cylindrical pair and the slide bar as cylindrical pair sliding rail.
5. a kind of as claimed in claim 1 be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration, it is characterised in that described four
Remaining Liang Ge branches in branch include being connected in turn between the first screw pair (21) and annular base (5)
The first revolute pair (41), first connecting rod (31), the second revolute pair (42), second connecting rod (32), the 3rd revolute pair (43), the 3rd
Connecting rod (33), the hinged set of cylindrical pair and the slide bar as cylindrical pair sliding rail.
6. a kind of as claimed in claim 4 be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration, it is characterised in that the second revolute pair
(22) axis and the 3rd revolute pair (23) axis are parallel to each other and revolved perpendicular to the first revolute pair (21) axis and cylindrical pair
Shaft axis；All cylindrical pair rotation axis intersect at the fixing point on the first revolute pair (21) axis simultaneously.
7. a kind of mechanism for Minimally Invasive Surgery and symmetrical configuration as described in claim 1-6 is any, it is characterised in that four
Sliding pair of the branch in cylindrical pair is driven using servomotor.
8. a kind of as claimed in claim 7 be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration, it is characterised in that operating theater instruments is pacified
The lower end connection operation tool (7) of piece installing, is stretched under annular base (5) by the central cavity (51) of annular base (5)
Side.
9. a kind of as claimed in claim 8 be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration, it is characterised in that operating theater instruments is pacified
The axis co-axial of the pivot center of piece installing and the annular groove of the first revolute pair (21) and pass through O points.
10. as claimed in claim 9 a kind of for Minimally Invasive Surgery and the mechanism of symmetrical configuration, it is characterised in that human body is cut
Mouth position (9) is placed with puncture cannula (10), and operation tool (7) is stretched into human body after passing through puncture cannula (10)；Described four points
The motion of branch mechanism controls operation tool (7), including installed using incision site (9) as the swing of origin, along operating theater instruments
Part axis direction it is flexible, and around the rotation of tool axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710216697.XA CN106965178A (en) | 2017-04-05 | 2017-04-05 | It is a kind of to be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710216697.XA CN106965178A (en) | 2017-04-05 | 2017-04-05 | It is a kind of to be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106965178A true CN106965178A (en) | 2017-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710216697.XA Pending CN106965178A (en) | 2017-04-05 | 2017-04-05 | It is a kind of to be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration |
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| CN (1) | CN106965178A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107981974A (en) * | 2017-11-08 | 2018-05-04 | 中国计量大学 | A kind of Prebending type artificial cochlea electrode is implanted into robot platform automatically |
| CN108992171A (en) * | 2018-08-07 | 2018-12-14 | 浙江理工大学 | A kind of remote center parallel connection micro-wound operation robot of Three Degree Of Freedom |
| CN109480922A (en) * | 2018-12-14 | 2019-03-19 | 上海交通大学 | A kind of remote center movement parallel institution of four-degree-of-freedom for Minimally Invasive Surgery |
| WO2020005165A1 (en) * | 2018-06-29 | 2020-01-02 | National University Of Singapore | Robotic linkage apparatus |
| WO2020155843A1 (en) * | 2019-01-31 | 2020-08-06 | 苏州迈澜医疗科技有限公司 | Multiple-degree-of-freedom parallel mechanism |
| CN113100889A (en) * | 2021-04-23 | 2021-07-13 | 潘小娟 | Auxiliary puncture device for nephrology department |
| CN113246098A (en) * | 2021-05-12 | 2021-08-13 | 复旦大学 | Four-degree-of-freedom parallel robot |
| CN114654454A (en) * | 2022-04-29 | 2022-06-24 | 浙江理工大学 | Three-branch motion redundancy parallel mechanism driven by sliding pair |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104398303A (en) * | 2014-10-28 | 2015-03-11 | 浙江理工大学 | Parallel serial mechanical arm used for minimally invasive surgery |
-
2017
- 2017-04-05 CN CN201710216697.XA patent/CN106965178A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104398303A (en) * | 2014-10-28 | 2015-03-11 | 浙江理工大学 | Parallel serial mechanical arm used for minimally invasive surgery |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107981974A (en) * | 2017-11-08 | 2018-05-04 | 中国计量大学 | A kind of Prebending type artificial cochlea electrode is implanted into robot platform automatically |
| WO2020005165A1 (en) * | 2018-06-29 | 2020-01-02 | National University Of Singapore | Robotic linkage apparatus |
| CN108992171A (en) * | 2018-08-07 | 2018-12-14 | 浙江理工大学 | A kind of remote center parallel connection micro-wound operation robot of Three Degree Of Freedom |
| CN108992171B (en) * | 2018-08-07 | 2023-11-21 | 浙江理工大学 | Three-degree-of-freedom far-center parallel minimally invasive surgical robot |
| CN109480922A (en) * | 2018-12-14 | 2019-03-19 | 上海交通大学 | A kind of remote center movement parallel institution of four-degree-of-freedom for Minimally Invasive Surgery |
| CN109480922B (en) * | 2018-12-14 | 2022-03-15 | 上海交通大学 | Four-degree-of-freedom far-center motion parallel mechanism for minimally invasive surgery |
| WO2020155843A1 (en) * | 2019-01-31 | 2020-08-06 | 苏州迈澜医疗科技有限公司 | Multiple-degree-of-freedom parallel mechanism |
| CN113100889A (en) * | 2021-04-23 | 2021-07-13 | 潘小娟 | Auxiliary puncture device for nephrology department |
| CN113246098A (en) * | 2021-05-12 | 2021-08-13 | 复旦大学 | Four-degree-of-freedom parallel robot |
| CN114654454A (en) * | 2022-04-29 | 2022-06-24 | 浙江理工大学 | Three-branch motion redundancy parallel mechanism driven by sliding pair |
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| PB01 | Publication | ||
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Application publication date: 20170721 |