CN106983558B - A kind of mechanical arm for urological surgery operation - Google Patents
A kind of mechanical arm for urological surgery operation Download PDFInfo
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- CN106983558B CN106983558B CN201710184608.8A CN201710184608A CN106983558B CN 106983558 B CN106983558 B CN 106983558B CN 201710184608 A CN201710184608 A CN 201710184608A CN 106983558 B CN106983558 B CN 106983558B
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Abstract
The present invention provides a kind of mechanical arms for urological surgery operation, it includes pedestal, mechanical arm rotating mechanism, whirling arm mechanism, extra heavy pipe feed mechanism, extra heavy pipe rotating mechanism and tubule feed mechanism, wherein, mechanical arm rotating mechanism is fixed on the base, and is provided with rotation boss；Whirling arm mechanism includes the first pivoted arm, first motor, the second pivoted arm and the second motor, wherein the rear end of the first pivoted arm and rotation boss are hinged, and articulated shaft is fixedly connected with first motor output shaft；The rear end of second pivoted arm and the front end of the first pivoted arm are hinged, and articulated shaft is fixedly connected with the second motor output shaft；Second pivoted arm front end and extra heavy pipe feed mechanism are hinged；Extra heavy pipe feed mechanism connects extra heavy pipe rotating mechanism, extra heavy pipe rotating mechanism connecting hole feed mechanism.This is used for the mechanical arm of urological surgery operation, exports the alternative operative doctor arm operation utensil of set movement by controlling each mechanism, to reduce doctor's labor intensity, and is advantageously implemented the precision of operation, standardization.
Description
Technical field
The present invention relates to a kind of operating robot operating devices, and in particular to a kind of machine for urological surgery operation
Tool arm.
Background technique
Urological diseases, which have become modern society, influences one of the most common disease of human health.Urological diseases are controlled
The operation that per urethra is carried out in treatment accounts for significant proportion, such as male's common disease benign prostatic hyperplasis (Benign
Prostatic Hyperplasia, BPH) treatment.BPH operation is one of most common operation of Urology Surgery, complete at present according to statistics
The operation of state's Urology Surgery about 30-60% is hyperplasia of prostate operation.Operation on prostate is based on minimally invasive, per urethra prostate electricity
It cuts or laser gasification is the most effectual way of current treatment BPH.Such operation relies primarily on doctor and operates by hand at present.
Since operation tool usually requires the movement of five freedom degrees of realization or more in BPH surgical procedure, cause to perform the operation
Journey Chinese medicine green hand arm palpus frequent changes posture, therefore the operation is higher to the experience and technical requirements of surgeon.Further, since
Amount for surgical is big, and doctor is difficult to ensure operation precision long lasting for easy fatigue of performing the operation, and manual operations is unfavorable for hand
Art standardization and remote operation.On the other hand, although occurring currently on the market for clinical operating robot, existing hand
Art robot is full-featured, structure is complicated, working service is at high cost, causes surgery cost expensive, and operating process is complicated, must be through special
Door training can just be operated.As it can be seen that existing operating robot specific aim for urological surgery is poor, it is necessary to develop
Dedicated for the robot mechanism of urological surgery to imitate doctor's arm thereby executing various dynamic required for surgical procedure
Make.
Summary of the invention
It is defeated by controlling each mechanism the purpose of the present invention is to provide a kind of mechanical arm for urological surgery operation
The alternative operative doctor arm operation utensil of set movement out, to reduce doctor's labor intensity, and is conducive to reality
Precision, the standardization now performed the operation.
The present invention is to be achieved through the following technical solutions:
It is a kind of for urological surgery operation mechanical arm comprising pedestal, mechanical arm rotating mechanism, whirling arm mechanism,
Extra heavy pipe feed mechanism, extra heavy pipe rotating mechanism and tubule feed mechanism, wherein mechanical arm rotating mechanism is fixed on the base, thereon
It is provided with rotation boss；Whirling arm mechanism includes the first pivoted arm, first motor, the second pivoted arm and the second motor, wherein the first pivoted arm
Rear end is hinged by the first articulated shaft and rotation boss, and first motor is for driving the first pivoted arm；Second pivoted arm rear end passes through the
Two articulated shafts and the first pivoted arm front end are hinged, and the second motor is for driving the second pivoted arm；Second pivoted arm front end and extra heavy pipe feed machine
Structure is hinged；Extra heavy pipe feed mechanism is provided with infeed mean, and extra heavy pipe rotating mechanism is fixed on the infeed mean；Extra heavy pipe rotating mechanism
It is provided with extra heavy pipe, tubule feed mechanism is fixed on extra heavy pipe.
Preferably, the first pivoted arm rear end is hinged by the first articulated shaft and rotation boss, first articulated shaft and the first electricity
The output shaft of machine, the first pivoted arm are fixedly connected with, and first motor is fixed on rotation boss；Second pivoted arm rear end passes through the second hinge
Spindle and the first pivoted arm front end are hinged, and the output shaft, the second pivoted arm of second articulated shaft and the second motor are fixedly connected with, and second
Motor is fixed on the first pivoted arm front end.
Preferably, the extra heavy pipe feed mechanism includes leadscrew-nut mechanism, and the nut seat of leadscrew-nut mechanism is feeding portion
Part.
Preferably, the mechanical arm rotating mechanism includes rotating electric machine, rotation boss, electric rotating base and mechanical arm rotation
Bearing block；Wherein, electric rotating base and robot axis hold seat and are fixed on the base；Rotating electric machine is fixed on electric rotating base
On, rotation boss is mounted on the bearing that robot axis is held in seat, and rotation boss and rotating electric machine export axis connection.
It is further preferred that the mechanical arm rotating mechanism further includes mechanical arm rotation shaft coupling；Mechanical arm rotates shaft coupling
Device is located at electric rotating base and robot axis is held between seat, and its rear end connects rotating electric machine output shaft, front end connection rotation
The axis of boss.
It is further preferred that the pedestal includes pedestal and plate, the plate is fixed on the upper end of pedestal；Rotating electric machine
Seat and robot axis hold seat and are fixed on plate.
It is further preferred that the pedestal includes horizontally disposed substrate and vertical support arm, plate setting is being supported
Above arm.
Preferably, the extra heavy pipe feed mechanism include bottom plate, extra heavy pipe feeding motor, lead screw, nut seat, guide rod, extra heavy pipe into
Bearing block is fed to motor cabinet and extra heavy pipe, wherein the rear end of bottom plate and the front end of the second pivoted arm are hinged；Bottom plate one end is equipped with slightly
Pipe feeds motor cabinet, and the other end is equipped with extra heavy pipe feeding bearing block；Extra heavy pipe feeding motor is installed on extra heavy pipe feeding motor cabinet,
Output shaft feeds motor cabinet by extra heavy pipe and connect with lead screw one end；The other end of lead screw is mounted on extra heavy pipe feeding bearing block；It leads
Bar is parallel with lead screw, and both ends are separately fixed on extra heavy pipe feeding motor cabinet and extra heavy pipe feeding bearing block；Nut seat is set in silk
On thick stick, screw pair is formed；Guide rod is threaded through in nut seat；Nut seat can slide axially along guide rod；Extra heavy pipe rotating mechanism is solid
It is scheduled on nut seat.
Preferably, extra heavy pipe rotating mechanism includes the first connecting plate, extra heavy pipe rotating electric machine and extra heavy pipe, wherein the first connecting plate
It is fixed on the infeed mean of extra heavy pipe feed mechanism, extra heavy pipe rotating electric machine is arranged in rear side, and extra heavy pipe is arranged in front side.
It is further preferred that extra heavy pipe rotating mechanism further includes the second connecting plate and flange, second connecting plate is fixed on
On the infeed mean of extra heavy pipe feed mechanism and it is located in front of the first connecting plate；Flange is fixed on the second connecting plate leading flank；Method
The axis that setting can be rotated relative to flange in blue；The front end for the axis that can be rotated relative to flange is connect with extra heavy pipe, rear end and extra heavy pipe
Rotating electric machine exports axis connection.
It is further preferred that extra heavy pipe rotating mechanism further includes extra heavy pipe rotation shaft coupling；Extra heavy pipe rotates the connection of shaft coupling rear end
Extra heavy pipe rotating electric machine output shaft, the rear end for the axis that front end connection can be rotated relative to flange.
Preferably, the tubule feed mechanism includes bushing, bracket, tubule, tubule feeding motor, sliding block, connecting rod and song
Handle, wherein bushing is fixed on extra heavy pipe, and bracket is arranged on bushing；Tubule feeding motor body is fixed on bracket；Tubule is fixed
It is on sliding block and parallel with extra heavy pipe.Sliding block is set on extra heavy pipe, and connecting rod one end and sliding block are hinged, and the other end and crank one end are cut with scissors
It connects, the crank other end and tubule feeding motor output shaft are hinged.
Preferably, the Plane of rotation of the first pivoted arm is identical as the Plane of rotation of the second pivoted arm.
Preferably, extra heavy pipe axis and the second pivoted arm axis intersect at the second pivoted arm front end and extra heavy pipe feed mechanism hinged place.
Preferably, the extra heavy pipe is additionally provided with incoming line, entrance of the incoming line for perform the operation water pipe, vision cable etc..
Preferably, cutting electrode or laser fiber are installed in tubule according to different requirements,；Cutting electrode or laser fiber
Connection between tubule is dismountable.
Compared with prior art, the invention has the following beneficial technical effects:
Provided by the present invention for the mechanical arm of urological surgery operation, mechanical arm rotating mechanism provides mechanical arm
Rotary freedom, whirling arm mechanism provide the rotary freedom of the rotary freedom of the first pivoted arm, the second pivoted arm, and extra heavy pipe feeds machine
Structure provides extra heavy pipe feeding freedom degree, and extra heavy pipe rotating mechanism provides extra heavy pipe rotary freedom, and tubule feed mechanism provides carefully
Pipe feeds freedom degree.The mechanical arm for urological surgery operation is provided with six active freedom degrees, real simulation mesh
Whole movements of preceding doctor's manual operations operation tool；It, can be with manual operations due to identical with the movement of existing surgical procedure
The operating habit of mode seamless interfacing, operator is constant, it is easier to skilled operation.Mechanical arm rotating mechanism makes mechanical arm can be with
Circumferential rotation occurs, especially rotates the design of boss so that connection between mechanical arm rotating mechanism and whirling arm mechanism and
It rotates more smoothly and steady.Surgical knife tool during whirling arm mechanism uses double pivoted arm structures to effectively reduce pitching/beat
Axial dipole field.The mechanical arm for being used for urological surgery operation exports the alternative operation of set movement by controlling each mechanism
Doctor's arm operation utensil to reduce doctor's labor intensity, and is advantageously implemented the precision of operation, standardization.
Moreover, which does not limit the surgical instrument of a certain type, root
According to actual needs, two kinds of surgical instruments of replaceable cutting electrode and laser fiber, versatility is stronger；It can also be closed by design
Suitable control system realizes remote operation.
Further, the setting of mechanical arm rotation shaft coupling, so that the production of mechanical arm rotating mechanism is more convenient, installation
Simple and movement is more stable, reduces the requirement to installation accuracy.
Further, the setting of plate, so that the setting that electric rotating base and robot axis hold seat is more easy
With it is firm.
Further, pedestal includes horizontally disposed substrate and vertical support arm, in this way, substrate has biggish connect
Contacting surface ensure that the stability that entire mechanical arm is placed, and support arm not only reduces the weight of entire pedestal, and can save
Save the convenience that space works so as to mechanical arm.
Further, extra heavy pipe feed mechanism includes leadscrew-nut mechanism, and the nut can only be occurred by the guidance of guide rod
Along the movement of guide rod axial direction, without the rotation along guide rod circumferential direction occurs.The nut as feed mechanism, can front and back it is steady
Sliding ensure that extra heavy pipe feeding it is steady.
Further, the second connecting plate and the first connecting plate cooperate, so that extra heavy pipe rotating mechanism is more steady.
Further, the setting of extra heavy pipe rotation shaft coupling is so that the installation of extra heavy pipe rotating mechanism is more convenient, and operation is more
Be it is steady, reduce the requirement of installation accuracy.
Further, the setting of slider-crank mechanism can effectively control the feeding of tubule.On the one hand, tubule feed mechanism
It is fixed on extra heavy pipe, is fed with the feed motion of extra heavy pipe feed mechanism, at this moment, extra heavy pipe is synchronous with the movement of tubule；
On the other hand, tubule feed mechanism can independently control the feed motion of tubule, so that the movement of tubule is independently of extra heavy pipe.
Further, the Plane of rotation of the first pivoted arm is identical as the Plane of rotation of the second pivoted arm.In this way, the control of whirling arm mechanism
Mode processed is more simple, and first motor and the second motor can be made to be in same plane, avoids motor and rotation
Influence between arm.
Further, extra heavy pipe axis intersects at the second pivoted arm front end with the second pivoted arm axis and extra heavy pipe feed mechanism is hinged
Place.First pivoted arm and the second pivoted arm make operation tool the second pivoted arm and extra heavy pipe feed mechanism during pitching/beat hinged
Point is remained at using body support's point to move on the arc trajectory in the center of circle, by operation tool in pitching/beat during Mo
The axial dipole field interference at end falls below minimum.
Detailed description of the invention
Fig. 1 is a kind of overall assembling figure of mechanical arm for urological surgery operation of embodiment description.
Fig. 2 is a kind of partial structural diagram of mechanical arm for urological surgery operation of embodiment description,
Illustrate extra heavy pipe feed mechanism, extra heavy pipe rotating mechanism and tubule feed mechanism.
Fig. 3 is a kind of partial structural diagram of mechanical arm for urological surgery operation of embodiment description,
Illustrate tubule feed mechanism.
Fig. 4 is that a kind of mechanism of mechanical arm for urological surgery operation of embodiment description in perpendicular is former
Reason figure.
Fig. 5 is that a kind of mechanical arm pitching/beat motion process for urological surgery operation of embodiment description shows
It is intended to.
It is as follows to Symbol explanation used in Figure of description below:
1 is pedestal；2 be rotating electric machine；3 be electric rotating base；4 rotate shaft coupling for mechanical arm；5 be robot axis
Hold seat；6 be rotation boss；7 be first motor；8 be the first pivoted arm；9 be the second motor；10 be the second pivoted arm；11 for extra heavy pipe into
To motor；12 feed motor cabinet for extra heavy pipe；13 be nut seat；14 be lead screw；15 be bottom plate；16 feed bearing block for extra heavy pipe；17
For guide rod；18 be extra heavy pipe rotating electric machine；19 rotate shaft coupling for extra heavy pipe；20 be flange；21 be bushing；22 be bracket；23 be thick
Pipe；24 be tubule；25 be sliding block；26 be connecting rod；27 be crank；28 feed motor for tubule.
Specific embodiment
Below with reference to specific embodiment and Fig. 1~5, the present invention is described in further detail, and described is to the present invention
Explanation rather than limit.
Referring to Fig. 1 and Fig. 2, a kind of mechanical arm for urological surgery operation comprising pedestal 1, mechanical arm rotation
Mechanism, whirling arm mechanism, extra heavy pipe feed mechanism, extra heavy pipe rotating mechanism and tubule feed mechanism, wherein
Mechanical arm rotating mechanism is fixed on pedestal 1, is provided with rotation boss 6；The rear end of whirling arm mechanism and rotation are convex
Platform 6 connects, and the front end of whirling arm mechanism is connect with extra heavy pipe feed mechanism；Extra heavy pipe feed mechanism is provided with infeed mean, extra heavy pipe rotation
Mechanism is fixed on the infeed mean of extra heavy pipe feed mechanism；Extra heavy pipe rotating mechanism is provided with extra heavy pipe 23, and tubule feed mechanism is fixed
On the extra heavy pipe 23 of extra heavy pipe rotating mechanism.
Wherein, the pedestal 1 includes pedestal and plate, and the pedestal includes horizontally disposed substrate and vertical support
Arm, plate are arranged above support arm.
Wherein, the mechanical arm rotating mechanism includes rotating electric machine 2, mechanical arm rotation shaft coupling 4, rotation boss 6, rotation
Motor cabinet 3 and robot axis hold seat 5；Electric rotating base 3 and robot axis hold seat 5 and are fixed on plate, electric rotating
Machine 2 is fixed on electric rotating base 3, and rotation boss 6 is mounted on the bearing that robot axis is held in seat 5；Mechanical arm rotation
Shaft coupling 4 is located at electric rotating base 3 and robot axis is held between seat 5, and its rear end connects 2 output shaft of rotating electric machine, front end
The axis of connection rotation boss 6.
Wherein, whirling arm mechanism includes the first pivoted arm 8, first motor 7, the second pivoted arm 10 and the second motor 9, wherein first
The rear end of pivoted arm 8 is fixed with articulated shaft and, the articulated shaft and first motor 7 of hinged place first pivoted arm 8 hinged with rotation boss 6
Output shaft is fixedly connected；The rear end of second pivoted arm 10 is fixed with articulated shaft and, hinged place hinged with the front end of the first pivoted arm 8
The articulated shaft of two pivoted arms 10 is fixedly connected with 9 output shaft of the second motor；Second pivoted arm, 10 front end and bottom plate 15 are hinged.First pivoted arm
8 Plane of rotation is identical as the Plane of rotation of the second pivoted arm 10.
Wherein, the extra heavy pipe feed mechanism includes bottom plate 15, extra heavy pipe feeding motor 11, lead screw 14, nut seat 13, guide rod
17, extra heavy pipe feeding motor cabinet 12 and extra heavy pipe feed bearing block 16, wherein the rear end of bottom plate 15 and the front end of the second pivoted arm 10 are cut with scissors
It connects；15 one end of bottom plate is equipped with extra heavy pipe feeding motor cabinet 12, and the other end is equipped with extra heavy pipe feeding bearing block 16；Extra heavy pipe feeds motor
11 are installed on extra heavy pipe feeding motor cabinet 12, and output shaft feeds motor cabinet 12 by extra heavy pipe and connect with 14 one end of lead screw；Lead screw
14 other end is mounted on extra heavy pipe feeding bearing block 16；Guide rod 17 is parallel with lead screw 14, both ends be separately fixed at extra heavy pipe into
To on motor cabinet 12 and extra heavy pipe feeding bearing block 16；Nut seat 13 is set on lead screw 14, forms screw pair；Guide rod 17 is worn
Cross nut seat 13；Nut seat 13 can slide axially along guide rod 17；Extra heavy pipe rotating mechanism is fixed on nut seat 13.
Wherein, extra heavy pipe rotating mechanism includes the first connecting plate, the second connecting plate, extra heavy pipe rotating electric machine 18, extra heavy pipe 23, extra heavy pipe
Rotate shaft coupling 19 and flange 20；Wherein, 13 one side of nut seat is setting the connection of two pieces of front and back along 14 axis direction of lead screw
Plate, i.e., posterior first connecting plate and preceding second connecting plate；Fixed extra heavy pipe rotating electric machine 18 on rear side of first connecting plate, second
Mounting flange 20 on the leading flank of connecting plate, the axis that the interior setting of flange 20 can be rotated relative to flange；Extra heavy pipe rotates shaft coupling 19
Between two pieces of connecting plates, extra heavy pipe rotates 19 rear end of shaft coupling and connects 18 output shaft of extra heavy pipe rotating electric machine, and front end connection can phase
For the rear end of the axis of flange rotation, the front end for the axis that can be rotated relative to flange is connect with extra heavy pipe 23.The axis of extra heavy pipe 23 with
The axis of second pivoted arm 10 intersects at 10 front end of the second pivoted arm and 15 hinged place of bottom plate.
Wherein, the tubule feed mechanism includes bracket 22, tubule 24, tubule feeding motor 28, sliding block 25,26 and of connecting rod
Crank 27；Extra heavy pipe 23 is cased with bushing 21 on one end of flange 20, and bracket 22 is fixed on bushing 21；Cunning is cased on extra heavy pipe 23
Block 25 is equipped with the tubule 24 parallel with 23 axis of extra heavy pipe on front side of sliding block 25, and rear side and 26 one end of connecting rod are hinged, 26 other end of connecting rod
Hinged with 27 one end of crank, 27 other end of crank and tubule feeding 28 output shaft of motor are hinged, and it is solid that tubule feeds 28 fuselage of motor
Determine on the tray 22.
Referring to fig. 4 and Fig. 5, a kind of working principle of mechanical arm for urological surgery operation of embodiment description is such as
Under:
In the course of surgery, equipped with various pipelines such as inlet and outlet pipes, video lines in extra heavy pipe 23.Cutting electricity is placed in tubule 24
Pole or laser fiber.Extra heavy pipe 23 and tubule 24 are inserted into human urethra in the course of surgery, and being needed according to operation can edge respectively
Do feed motion in own axes direction.In addition, extra heavy pipe 23 and 24 end of tubule also need realize deflect, upper and lower pitching, around
Axis rotation.
The whole feed motion of extra heavy pipe 23 and tubule 24 feeds motor 11 by extra heavy pipe to drive.When extra heavy pipe feeds motor 11
When rotating clockwise, driving lead screw 14 is rotated, and nut seat 13 is pushed to travel forward.Since flange 20 is fixed on the side of nut seat 13
On plate, extra heavy pipe 23 and flange 20 are coaxially connected, and tubule 24 and its driving mechanism are installed on extra heavy pipe 23, therefore in nut seat 13
Drive and guide rod 17 guiding under, extra heavy pipe 23 and tubule 24 travel forward.Similarly, when extra heavy pipe feeding motor 11 rotates counterclockwise
When, driving lead screw 14 rotates, and nut seat 13 is pushed to move backward.It is fixed on due to flange 20 on the side plate of nut seat 13, extra heavy pipe
23 is coaxially connected with flange 20, and tubule 24 and its driving mechanism are installed on extra heavy pipe 23, thus in the drive of nut seat 13 and
Under the guiding of guide rod 17, extra heavy pipe 23 and tubule 24 move backward.Forward-reverse in the whole feed motion of extra heavy pipe 23 and tubule 24
Speed can be controlled by adjusting the output revolving speed of extra heavy pipe feeding motor 11.
The independent feed motion of tubule 24 feeds motor 28 by tubule to drive.Since tubule feeds motor 28, crank
27, connecting rod 26 and sliding block 25 have collectively constituted slider-crank mechanism, when tubule feeding motor 28 rotates, are pushed by crank 27
Connecting rod 26, which transfers power on sliding block 25, pushes sliding block 25 to move forward and backward, as shown in Figure 3.When crank 27 and 26 axis of connecting rod at
Straight line and when angle is 180 degree, 25 forward travel of sliding block to maximum displacement, tubule 24 fixed thereon also arrive by forward travel
Maximum displacement.After tubule feeding motor 28 rotates 180 degree, the in alignment and angle Chong Die with 26 axis of connecting rod of crank 27 is
At 0 degree, 25 setback of sliding block to maximum displacement, tubule 24 fixed thereon also setback to maximum displacement.Repeatedly,
Tubule feeds motor 28 and rotates one week drive tubule 24 along one front and back feed motion circulation of the axial progress of extra heavy pipe 23.Tubule 24
Forward-reverse speed can be controlled by adjusting the output revolving speed of tubule feeding motor 28 in independent feed motion.Pass through control
Tubule feeding motor 28 exports suitable revolving speed and continuous auto-feed may be implemented.
The pitching movement up and down of 24 end of extra heavy pipe 23 and tubule passes through rotating electric machine 2, first motor 7 and the second motor 9
The coordinated movement of various economic factors is realized.Rotating electric machine 2 by mechanical arm rotate shaft coupling 4 drive rotation boss 6 rotate so that rotation boss 6 with
The hinge axes of first pivoted arm 8 are in a horizontal position, due to the first pivoted arm 8 and the second pivoted arm 10, the second pivoted arm 10 and bottom plate 15
Hinge axes and rotation boss 6 and the hinge axes of the first pivoted arm 8 be parallel to each other, then the first pivoted arm 8 and the second pivoted arm 10,
The hinge axes of second pivoted arm 10 and bottom plate 15 are also at horizontal position.At this point, as shown in Fig. 5, when the driving of first motor 7 the
When one pivoted arm 8 rotates clockwise, the second motor 9 drives the second pivoted arm 10 that the first pivoted arm 8 is followed to move so that the second pivoted arm 10 with
15 hinge joint of bottom plate moves upwards.Protruding into the intracorporal part of people due to extra heavy pipe 23 and 24 end of tubule subjects the branch of tissue
Support and constraint, constitute a sliding revolute pair, and then the second pivoted arm 10 makes extra heavy pipe after moving upwards with 15 hinge joint of bottom plate
23 and 24 end of tubule move downward, to realize the nutation of extra heavy pipe 23 and tubule 24.When first motor 7 drives the first pivoted arm
8 when rotating counterclockwise, and the second motor 9 drives the second pivoted arm 10 that the first pivoted arm 8 is followed to move, so that the second pivoted arm 10 and bottom plate 15
Hinge joint moves downward.Protruding into the intracorporal part of people due to extra heavy pipe 23 and 24 end of tubule subjects the support peace treaty of tissue
Beam constitutes a sliding revolute pair, and then the second pivoted arm 10 makes extra heavy pipe 23 and carefully after moving downward with 15 hinge joint of bottom plate
24 end of pipe moves upwards, to realize facing upward for extra heavy pipe 23 and tubule 24.
Similarly, the movement that deflects of 24 end of extra heavy pipe 23 and tubule is also by rotating electric machine 2, first motor 7 and second
The coordinated movement of various economic factors of motor 9 is realized.Rotating electric machine 2 rotates shaft coupling 4 by mechanical arm and rotation boss 6 is driven to rotate so that rotation
Boss 6 and the hinge axes of the first pivoted arm 8 are vertical, due to the first pivoted arm 8 and the second pivoted arm 10, the second pivoted arm 10 and bottom plate 15
Hinge axes and rotation boss 6 and the hinge axes of the first pivoted arm 8 are parallel to each other, at this time the first pivoted arm 8 and the second pivoted arm 10, the
The hinge axes of two pivoted arms 10 and bottom plate 15 are also at vertical position.At this point, as shown in Fig. 5, when first motor 7 drives first
When pivoted arm 8 rotates clockwise, the second motor 9 drives the second pivoted arm 10 that the first pivoted arm 8 is followed to move, so that the second pivoted arm 10 and bottom
15 hinge joint of plate moves right.Protruding into the intracorporal part of people due to extra heavy pipe 23 and 24 end of tubule subjects the support of tissue
And constraint, a sliding revolute pair is constituted, then the second pivoted arm 10 makes extra heavy pipe 23 after moving right with 15 hinge joint of bottom plate
It is moved downward with 24 end of tubule, to realize the left avertence of extra heavy pipe 23 and tubule 24.When first motor 7 drives the first pivoted arm 8
When rotating counterclockwise, the second motor 9 drives the second pivoted arm 10 that the first pivoted arm 8 is followed to move, so that the second pivoted arm 10 and bottom plate 15
Hinge joint moves downward.Protruding into the intracorporal part of people due to extra heavy pipe 23 and 24 end of tubule subjects the support peace treaty of tissue
Beam constitutes a sliding revolute pair, and then the second pivoted arm 10 makes extra heavy pipe 23 and carefully after moving downward with 15 hinge joint of bottom plate
24 end of pipe moves right, to realize the right avertence of extra heavy pipe 23 and tubule 24.
In surgical procedure, operation tool end may be implemented in any side by controlling 2 different rotation angle of rotating electric machine
Upward pitching and beat moves.
As shown in Fig. 5, the present invention by setting the first pivoted arm 8 and the second pivoted arm 10 make operation tool pitching/partially
The second pivoted arm 10 is remained at 15 hinge joint of bottom plate using body support's point to move on the arc trajectory in the center of circle during pendulum,
The axial dipole field interference of operation tool end during pitching/beat is fallen below minimum.Meanwhile in order to reach this mesh
, 8 axis of the first pivoted arm and 10 axis of the second pivoted arm should form an angle in the initial state.
Extra heavy pipe 23 and the whole rotary motion around 23 axis of extra heavy pipe of tubule 24 are driven by extra heavy pipe rotating electric machine 18.When thick
When pipe rotating electric machine 18 rotates clockwise, shaft coupling 19 is rotated by extra heavy pipe, the axis for being built in flange 20 is driven to rotate clockwise.
Since 23 one end of extra heavy pipe is connected with the axis for being built in flange 20, extra heavy pipe 23 is rotated clockwise around own axes.Tubule 24 and its drive
Motivation structure is mounted on extra heavy pipe 23 by sliding block 25, bushing 21 and bracket 22, therefore thick under the driving of extra heavy pipe rotating electric machine 18
Pipe 23 and tubule 24 are whole around the rotation of 23 axis both clockwise of extra heavy pipe.When extra heavy pipe rotating electric machine 18 rotates counterclockwise, pass through extra heavy pipe
Rotation shaft coupling 19 drives the axis for being built in flange 20 to rotate counterclockwise.Due to 23 one end of extra heavy pipe and the axis phase for being built in flange 20
Even, extra heavy pipe 23 is rotated counterclockwise around own axes.Tubule 24 and its driving mechanism are installed by sliding block 25, bushing 21 and bracket 22
Extra heavy pipe 23 and 24 entirety of tubule are revolved counterclockwise around 23 axis of extra heavy pipe on extra heavy pipe 23, therefore under the driving of extra heavy pipe rotating electric machine 18
Turn.
When surgical knife tool rotary motion has higher requirements to center of rotation, upper one can be covered outside extra heavy pipe 23 and tubule 24
A round tube so that 18 rotation axis of extra heavy pipe rotating electric machine is overlapped with the round tube central axis, can be realized surgical knife tool it is whole around
Own axes make rotating motion.
Claims (7)
1. a kind of mechanical arm for urological surgery operation, which is characterized in that it includes pedestal (1), mechanical arm whirler
Structure, whirling arm mechanism, extra heavy pipe feed mechanism, extra heavy pipe rotating mechanism and tubule feed mechanism；Mechanical arm rotating mechanism is fixed on pedestal
(1) on, mechanical arm rotating mechanism is provided with rotation boss (6)；
Wherein, whirling arm mechanism includes the first pivoted arm (8), first motor (7), the second pivoted arm (10) and the second motor (9), and first turn
Hingedly, first motor (7) is for driving the first pivoted arm (8) for arm (8) rear end and rotation boss (6)；Second pivoted arm (10) rear end with
First pivoted arm (8) front end is hinged, and the second motor (9) is for driving the second pivoted arm (10)；Second pivoted arm (10) front end and extra heavy pipe into
It is hinged to mechanism；
Extra heavy pipe feed mechanism is provided with infeed mean, and extra heavy pipe rotating mechanism is fixed on the infeed mean；Extra heavy pipe rotating mechanism is set
It is equipped with extra heavy pipe (23), tubule feed mechanism is fixed on extra heavy pipe (23)；
Wherein, extra heavy pipe rotating mechanism includes the first connecting plate, extra heavy pipe rotating electric machine (18) and extra heavy pipe (23)；First connecting plate is fixed
On the infeed mean of extra heavy pipe feed mechanism, extra heavy pipe rotating electric machine (18) are arranged in rear side, and extra heavy pipe (23) are arranged in front side, and second
Connecting plate is fixed on the infeed mean of extra heavy pipe feed mechanism and is located in front of the first connecting plate, and flange (20) is fixed on the second company
On fishplate bar leading flank, the axis that setting can be rotated relative to flange (20) in flange (20), the front end and extra heavy pipe (23) of the axis are even
It connects, rear end and extra heavy pipe rotating electric machine (18) export axis connection；
Wherein, tubule feed mechanism includes bushing (21), tubule (24), tubule feeding motor (28), sliding block (25), connecting rod (26)
With crank (27)；Wherein, bushing (21) is fixed on extra heavy pipe (23), and bracket (22) are arranged on bushing (21)；Tubule feeds motor
(28) fuselage is fixed on bracket (22)；Tubule (24) is fixed on sliding block (25) and parallel with extra heavy pipe (23)；Sliding block (25) set
It is located on extra heavy pipe (23), hingedly, the other end and crank (27) one end are hinged for connecting rod (26) one end and sliding block (25), and crank (27) is another
One end and tubule feeding motor (28) output shaft are hinged.
2. the mechanical arm for urological surgery operation as described in claim 1, which is characterized in that the mechanical arm rotation
Mechanism further includes that rotating electric machine (2), electric rotating base (3) and robot axis hold seat (5)；Wherein, electric rotating base (3) and
Robot axis holds seat (5) and is fixed on pedestal (1)；Rotating electric machine (2) is fixed on electric rotating base (3), rotates boss
(6) it is mounted on the bearing that robot axis is held in seat (5), rotation boss (6) and rotating electric machine (2) export axis connection.
3. the mechanical arm for urological surgery operation as claimed in claim 2, which is characterized in that the mechanical arm rotation
Mechanism further includes mechanical arm rotation shaft coupling (4)；Mechanical arm rotation shaft coupling (4) is located at electric rotating base (3) and mechanical arm rotation
Turn between bearing block (5), its rear end connects rotating electric machine (2) output shaft, the axis of front end connection rotation boss (6).
4. the mechanical arm for urological surgery operation as described in claim 1, which is characterized in that the extra heavy pipe feeds machine
Structure includes bottom plate (15), extra heavy pipe feeding motor (11), lead screw (14) and guide rod (17)；
Wherein, one end of bottom plate (15) is equipped with extra heavy pipe feeding motor cabinet (12), and the other end is equipped with extra heavy pipe feeding bearing block
(16)；Bottom plate (15) rear end and the second pivoted arm (10) front end are hinged；
Extra heavy pipe feeding motor (11) is installed in extra heavy pipe feeding motor cabinet (12), and output shaft feeds motor cabinet (12) by extra heavy pipe
It is connect with lead screw (14) one end；The other end of lead screw (14) is mounted in extra heavy pipe feeding bearing block (16)；Guide rod (17) and lead screw
(14) in parallel, guide rod (17) both ends are separately fixed in extra heavy pipe feeding motor cabinet (12) and extra heavy pipe feeding bearing block (16)；
It is arranged on lead screw (14) nut seat (13), nut seat (13) and lead screw (14) form screw pair；Guide rod (17)
It is threaded through in nut seat (13)；Nut seat (13) can slide axially along guide rod (17)；Extra heavy pipe rotating mechanism is fixed on nut seat
(13) on.
5. the mechanical arm for urological surgery operation as described in claim 1, which is characterized in that extra heavy pipe rotating mechanism is also
Shaft coupling (19) are rotated including extra heavy pipe；Extra heavy pipe rotates shaft coupling (19) rear end and connects extra heavy pipe rotating electric machine (18) output shaft, front end
It is connected to the rear end for the axis that can be rotated relative to flange (20).
6. the mechanical arm as claimed in any one of claims 1 to 5 for urological surgery operation, which is characterized in that first
The Plane of rotation of pivoted arm (8) is identical as the Plane of rotation of the second pivoted arm (10).
7. the mechanical arm as claimed in any one of claims 1 to 5 for urological surgery operation, which is characterized in that extra heavy pipe
(23) axis and the second pivoted arm (10) axis intersect at the second pivoted arm (10) front end and extra heavy pipe feed mechanism hinged place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710184608.8A CN106983558B (en) | 2017-03-24 | 2017-03-24 | A kind of mechanical arm for urological surgery operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710184608.8A CN106983558B (en) | 2017-03-24 | 2017-03-24 | A kind of mechanical arm for urological surgery operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106983558A CN106983558A (en) | 2017-07-28 |
| CN106983558B true CN106983558B (en) | 2019-10-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710184608.8A Active CN106983558B (en) | 2017-03-24 | 2017-03-24 | A kind of mechanical arm for urological surgery operation |
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| Country | Link |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110464464A (en) * | 2019-08-06 | 2019-11-19 | 复旦大学附属肿瘤医院 | A kind of urological surgery robot arm |
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| CN103083091A (en) * | 2013-01-28 | 2013-05-08 | 哈尔滨工业大学 | Inclined angle flexible needle robot auxiliary puncture system based on piezoelectric actuation |
| US9095686B2 (en) * | 2008-05-26 | 2015-08-04 | Universite De Strasbourg | Device for the controlled translational displacement of an elongate element |
| CN105193502A (en) * | 2014-06-23 | 2015-12-30 | 上海艾迅医疗设备有限公司 | Surgical operation robot |
| WO2017006377A1 (en) * | 2015-07-09 | 2017-01-12 | 川崎重工業株式会社 | Surgical robot |
| CN106510848A (en) * | 2016-11-23 | 2017-03-22 | 中国人民解放军第二军医大学 | Transurethral surgical robot and control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9095686B2 (en) * | 2008-05-26 | 2015-08-04 | Universite De Strasbourg | Device for the controlled translational displacement of an elongate element |
| CN103083091A (en) * | 2013-01-28 | 2013-05-08 | 哈尔滨工业大学 | Inclined angle flexible needle robot auxiliary puncture system based on piezoelectric actuation |
| CN105193502A (en) * | 2014-06-23 | 2015-12-30 | 上海艾迅医疗设备有限公司 | Surgical operation robot |
| WO2017006377A1 (en) * | 2015-07-09 | 2017-01-12 | 川崎重工業株式会社 | Surgical robot |
| CN106510848A (en) * | 2016-11-23 | 2017-03-22 | 中国人民解放军第二军医大学 | Transurethral surgical robot and control system |
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| Publication number | Publication date |
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