CN108309456A - A kind of quick-changing mechanism of control decoupling for single hole operating robot - Google Patents
A kind of quick-changing mechanism of control decoupling for single hole operating robot Download PDFInfo
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- CN108309456A CN108309456A CN201810177472.2A CN201810177472A CN108309456A CN 108309456 A CN108309456 A CN 108309456A CN 201810177472 A CN201810177472 A CN 201810177472A CN 108309456 A CN108309456 A CN 108309456A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 253
- 238000013461 design Methods 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 27
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 23
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 35
- 230000008859 change Effects 0.000 description 12
- 230000008878 coupling Effects 0.000 description 10
- 238000010168 coupling process Methods 0.000 description 10
- 238000005859 coupling reaction Methods 0.000 description 10
- 238000009434 installation Methods 0.000 description 9
- 238000001356 surgical procedure Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of quick-changing mechanisms of the control decoupling for single hole operating robot, are made of the first joint driving mechanism, second joint driving mechanism, third joint driving mechanism, the 4th joint driving mechanism, the 5th joint driving mechanism, the 6th joint driving mechanism, the 7th joint driving mechanism, the 8th joint driving mechanism and base housing, base outer cover, connector and retaining mechanism etc..Surgical instrument driving mechanism is decoupled using control, completely solves the mutual movement coupled problem generated when each joint rotation of surgical instrument executing agency；It is decoupled by control principle, the structure design of surgical instrument executing agency can be simplified, be conducive to the volume production of surgical instrument executing agency.The quick-changing mechanism of the control decoupling for single hole operating robot of the present invention have the advantages that easy disassembly, be easy to adjustment, accurate positioning, rigidity it is larger, it is rationally distributed, minimize, light-weighted.
Description
Technical field
The present invention relates in a kind of micro-wound surgical operation field Medical Devices more particularly to one kind being suitable for thoracic cavity and abdomen
The quick-changing mechanism of the minimally invasive surgery single hole operating robot of the Minimally Invasive Surgery operation of chamber.
Background technology
It is known as 20th century medical science to one of the significant contribution of human civilization using laparoscope as the minimally invasive surgery of representative,
Minimally Invasive Surgery operation refers to that doctor is insinuated into progress hand in vivo by elongated surgical instrument by the miniature incision of human body surface
Art operation.It is compared with traditional open surgery with operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time is fast
The advantages that, reach the curative effect identical as traditional open surgery.Manually operated Minimally Invasive Surgery instrument is passive operation form, generally
End only has there are one freedom of motion.Doctor, which applies to drive by finger, in surgical procedure realizes end apparatus movement, and according to
The various complex operations including suturing, knotting are smoothly completed by the kinematic dexterity of doctor's arm and wrist.But for
For assisting minimally-invasive surgery robot system, since the operation of surgical instrument is completed by robot, and system of robot
System itself does not have the flexibility of people's operation.Therefore, higher is proposed to the design of micro-wound operation robot Special surgical instrument
Requirement.To adapt to the requirement of Minimally Invasive Surgery, the design of surgical instrument should meet that small, operation is flexible, various informative, is convenient for
It is installed with robot arm, has enough rigidity and intensity, is suitable for medical environment requirement (such as repeatedly disinfection).Especially perform the operation
Instrument should have more degree of freedom to meet requirement on flexibility, just adapt to the complicated operations operation such as suture knotting.
In micro-wound operation robot surgical procedure, operation tool is the portion being uniquely in contact with human lesion tissue
Point, and the robot part of surgical procedure is directly executed, therefore, the performance of operation tool is that minimally-invasive surgery robot system is comprehensive
Close the key point of performance.To adapt to the requirement of modernization Minimally Invasive Surgery, the design of operation tool should meet delicate structure, operation
Flexibly, various informative, be easily changed, be suitble to requirements, the especially operation tool such as medical environment that should have more degree of freedom with full
Sufficient requirement on flexibility, and to be easily changed the surgical procedure that could realize complexity.Therefore, the surgical device to match with operation tool
The performance of tool is also the important component of minimally-invasive surgery robot system comprehensive performance, and performance indicator not only affects operation
The use of tool also directly determines the design objective and layout type of main body system.In short, operation tool and fast replacing device
Performance is to embody the key factor of surgical robot system overall performance level.
In the world, the existing more set model machines of minimally-invasive surgery robot system research field have reached commercial clinical application water
It is flat, including da Vinci, Zeus, LAPROTEK system etc..Development by studying surgical robot system finds operation tool
System is mainly made of tool portion and fast replacing device.The development trend of tool portion is to be passed from bar transmission, low degree-of-freedom to silk
Dynamic, multiple degrees of freedom development, though structure increasingly simplifies, function becomes stronger and stronger；Fast replacing device is then gradually to tight
Gather type, integrated-type development, performance also become more and more efficiently, stablize.Existing two sets are commercialized micro-wound operation robots
The four-degree-of-freedom operation tool system being driven using silk, but there are still topology layout dispersion, shape rulers for these operation tool systems
The shortcomings of very little larger, so operation tool system still has prodigious development potentiality.
Research and development in China, minimally invasive surgery single hole operating robot are still in infancy, especially to tool system of performing the operation
Research also have larger gap compared with foreign technology, therefore, exploitation silk transmission, surgical instrument with degrees of freedom and match
The more stable efficient fast replacing device of performance promotes related-art technology progress to be of great significance to filling the domestic gaps.It grinds
Study carefully exploitation and possesses the surgical instrument with degrees of freedom system of different silk driving forms and quick change mode for being promoted from existing system
China has far reaching significance in the science of the scientific research field, technology status.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of easy disassembly, it is easy to adjustment, positioning standard
Really, rigidity it is larger, it is rationally distributed minimize, the light-weighted control decoupling for minimally invasive surgery single hole operating robot it is fast
Converting mechanism, it can be clamped operation tool auxiliary doctor and implement minimally invasive single-hole surgical.
The present invention provides a kind of easy disassembly, be easy to adjustment, accurate positioning, the miniaturization that rigidity is larger, rationally distributed,
The quick-changing mechanism of the light-weighted control decoupling for minimally invasive surgery single hole operating robot, concrete scheme are as follows：
A kind of quick-changing mechanism of control decoupling for minimally invasive surgery single hole operating robot, including a fixed seat,
First, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism is installed in the fixed seat；
First, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism is mounted on same
On a pedestal, the joint driving mechanism of described first, second, third, fourth, the five, the six, the 7th and the 8th is each by one
A interface clutch discs execute instrument with the operation and are connected；
First, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism passes through steel wire rope
The first, second, third, fourth, the five, the six, the 7th and the 8th joint of corresponding driving surgical instrument executing agency M is held respectively
The rotation of row mechanism；
Described first, second, third, fourth, the five, the six, the 7th are identical with the structure of the 8th joint driving mechanism,
Include respectively a motor, which drives transmission shaft rotation, the transmission shaft and interface clutch discs phase corresponding thereto
Even；
Further, the first, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism
Both ends of the drive shaft is fixed on the base by bearing axial restraint, bearing.
Further, the first, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism
The transmission shaft section is in " D " font, and transmission shaft is circumferentially fixed by " D " shaped sections.
Further, the first, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism exists
It is single-row on the pedestal to be sequentially connected in series arrangement；7th joint driving mechanism and the 8th joint driving mechanism and the 6th joint drive
Mechanism is arranged in parallel on the pedestal.
Further, the interface pedestal includes base housing and base outer cover, and the base housing is equipped with two
Road positioning convex platform, base housing two sides are respectively equipped with two stay bolt holes, and the stay bolt hole is connected with base outer cover.
Further, there are two the base outer covers, it is mounted and fixed to the both sides of base housing respectively；Base outer cover
Guide chute is designed above, and guide chute top is in " horn mouth " shape, to facilitate the installation of surgical instrument executing agency, pedestal
Guide chute end and intermediate channel bottom are in " circular arc " shape sliding slot slot bottom of " circular arc " shape, guide chute end and middle part above outer cover
Opening direction is vertical with guide chute axis direction, and the guide chute end of " circular arc " shape and intermediate channel bottom and surgical device
The fixed pin shaft of tool executing agency forms " interference " cooperation, to prevent the fixed pin shaft of surgical instrument executing agency from base outer cover
It " is skidded off " in guide chute end and intermediate channel bottom above, surgical instrument executing agency is caused " to be detached " with quick-changing mechanism；
Further, surgical instrument executing agency can be installed to quick-changing mechanism along the guide chute above base outer cover
On；Design is there are two stay bolt hole on base outer cover, two stay bolt holes above base outer cover and the length above base housing
The long axially bored line of bolt hole is vertical, and base outer cover and base housing are adjusted when base outer cover being facilitated to be mounted and fixed on base housing
Relative mounting positions.
Further, the quick-changing mechanism interface pedestal for minimally invasive surgery single hole operating robot, further includes one
A retaining mechanism for being fixed to surgical instrument executing agency in interface pedestal；The retaining mechanism includes two groups, often
Group includes a locking hook, and one end of two locking hooks is rotatably mounted on the same base outer cover, and locking hook is another
End is equipped with groove, and corresponding position is equipped with boss, the groove and surgical device of locking hook above on surgical instrument executing agency shell
The boss cooperation of corresponding position is used for fixation surgical instrument executing agency on tool executing agency shell.
Advantageous effect：
The quick-changing mechanism of the control decoupling for minimally invasive surgery single hole operating robot of the present invention, compared with prior art
It has the advantages that：
1. the quick-changing mechanism easy disassembly of the control decoupling for minimally invasive surgery single hole operating robot of the present invention is easy to
Adjustment, accurate positioning, rigidity is larger, rationally distributed, miniaturization, lightweight.
2. surgical instrument quick-changing mechanism is decoupled using control, when completely solving each joint rotation of surgical instrument executing agency
The mutual movement coupled problem generated.
3. by adjusting relative installation between base outer cover and base housing, leading above base outer cover can be adjusted
To relative installation between the interface clutch discs above sliding slot and base housing, to make surgical instrument executing agency M install
When on to quick-changing mechanism N, the interface clutch discs above surgical instrument executing agency M can be with the interface clutch above base housing
Disk can coordinate just to be driven in place, and the interface clutch above surgical instrument executing agency M will not be caused because of interference
Disk can not coordinate with the interface clutch discs above base housing.
4. making horn mouth at the top of the guide chute above tool apron outer cover, surgical instrument executing agency M is made to be fit into soon
More convenient and quicker when converting mechanism N；Guide chute curve can guarantee that cutter driving disk slides naturally and be docked without interfering；It leads
The phase of surgical instrument executing agency M and quick-changing mechanism N can be accurately positioned using interference fit to sliding slot end and intermediate channel bottom
To installation site.Surgical instrument executing agency M is fit into and removes from the front upper places quick-changing mechanism N, meets custom operation direction,
It reduces installation and removes difficulty.
5. surgical instrument executing agency M can be accurately and reliably fixed to above quick-changing mechanism N by locked by hooks mechanism；
It can easily lock and unclamp surgical instrument executing agency M.
6. the interface clutch discs above quick-changing mechanism N use single-row arrangement, make surgical instrument executing agency M in interface pedestal
The arm of force between fixed point above is longer, is more advantageous in guarantee surgical instrument executing agency M consolidating on interface pedestal
It is fixed.
7. the interface clutch discs above quick-changing mechanism N use single-row arrangement, motor and interface clutch discs " coaxially arranged ", can
With by second joint driving mechanism, third joint driving mechanism, the 4th joint driving mechanism, the 5th joint driving mechanism, the 6th
The single-row arrangement of motor of joint driving mechanism, the 7th joint driving mechanism and the 8th joint driving mechanism reduces multiple quick changes
The possibility interfered when mechanism co-operating, space layout are reasonable.
8. carrying out control decoupling on quick-changing mechanism N, decoupling mechanism does not design on surgical instrument executing agency M, in this way
The structure design that surgical instrument executing agency M can be simplified is conducive to surgical instrument executing agency M mass productions.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is not necessarily pressed
Only it is to be illustratively described the present invention according to ratio, drawings discussed below is only some embodiments in the present invention, is not limit
The system present invention, for those of ordinary skill in the art, without having to pay creative labor, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is a kind of double end class of the quick-changing mechanism of control decoupling for minimally invasive surgery single hole operating robot of the present invention
The instrument decoupling-structure right side regards schematic diagram.
Fig. 2 is a kind of double end class of the quick-changing mechanism of control decoupling for minimally invasive surgery single hole operating robot of the present invention
Instrument decoupling-structure schematic front view.
Fig. 3 is a kind of double end class of the quick-changing mechanism of control decoupling for minimally invasive surgery single hole operating robot of the present invention
Instrument decoupling-structure schematic top plan view.
Fig. 4 is a kind of single head class of the quick-changing mechanism of control decoupling for minimally invasive surgery single hole operating robot of the present invention
Instrument decoupling-structure schematic front view.
Fig. 5 is that a kind of quick-changing mechanism of control decoupling for minimally invasive surgery single hole operating robot of the present invention is held with instrument
The assembly right side of row mechanism regards schematic diagram.
Fig. 6 is that a kind of quick-changing mechanism of control decoupling for minimally invasive surgery single hole operating robot of the present invention is held with instrument
The assembly schematic front view of row mechanism.
Fig. 7 is that a kind of quick-changing mechanism of control decoupling for minimally invasive surgery single hole operating robot of the present invention is held with instrument
The assembly schematic top plan view of row mechanism.
Fig. 8 is outside a kind of pedestal of the quick-changing mechanism of control decoupling for minimally invasive surgery single hole operating robot of the present invention
Cover structure schematic diagram.
Fig. 9 is a kind of double end class of the quick-changing mechanism of control decoupling for minimally invasive surgery single hole operating robot of the present invention
Two structure of the main view of instrument decoupling-structure embodiment.
Figure 10 is a kind of single head of the quick-changing mechanism of control decoupling for minimally invasive surgery single hole operating robot of the present invention
Two structure of the main view of class instrument decoupling-structure embodiment.
Figure 11-Figure 13 is the partial enlarged view in Fig. 5.
Figure 14-Figure 15 is the partial enlarged view in Fig. 6.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
The explanation of label is specifically omitted in the label below：1_7~8_1 represent be：1_7、2_1、3_1、4_1、5_
1、6_1、7_1、8_1；1_8~8_2 represent be：1_8、2_2、3_2、4_2、5_2、6_2、7_2、8_2；What 1_9~8_3 was represented
It is：1_9、2_3、3_3、4_3、5_3、6_3、7_3、8_3；2_1~8_1 represent be：2_1、3_1、4_1、5_1、6_1、7_1、
8_1；1_4~8_4 represent be：1_4、2_4、3_4、4_4、5_4、6_4、7_4、8_4；2_4~8_4 represent be：2_4、3_
4、4_4、5_4、6_4、7_4、8_4；1_5~8_5 represent be：1_5、2_5、3_5、4_5、5_5、6_5、7_5、8_5；1_6~
8_6 represent be：1_6、2_6、3_6、4_6、5_6、6_6、7_6、8_6；3_3~6_3 represent be：3_3、4_3、5_3、6_3；
3_4~6_4 represent be：3_4、4_4、5_4、6_4.
Embodiment one
Illustrate present embodiment in conjunction with Fig. 1~Fig. 3, Fig. 5~Fig. 8, Figure 11~Figure 15, it is described to be used for minimally invasive surgery single hole hand
The quick-changing mechanism of the control decoupling of art robot, an including fixed seat 1_1, and installed on the fixed seat 1_1 the
One joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism the 4, the 5th close
Save the compositions such as driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8.
First joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint
Driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint drive
Mechanism 8 is mounted on the same pedestal 1_3, first joint driving mechanism 1, second joint driving mechanism 2, third joint
Driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint drive
Mechanism 7 and the 8th joint driving mechanism 8 execute machine each by an interface clutch discs 1_4~8_4 and the surgical instrument
Structure M is connected；
First joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint
Driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint drive
By steel wire rope, the first joint executing agency 9 of corresponding driving surgical instrument executing agency M, second joint execute respectively for mechanism 8
Mechanism 10, third joint executing agency 11, the 4th joint executing agency 12, the 5th joint executing agency 13, the 6th joint execute
The rotation of mechanism 14, the 7th joint executing agency 15 and the 8th joint executing agency 16；
First joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint
Driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint drive
The structure of mechanism 8 is identical, includes respectively a motor 1_7~8_1, and motor 1_7~8_1 passes through shaft joint 1_8~8_2 and biography
Moving axis 1_9~8_3 is connected, and the transmission shaft 1_9~8_3 is connected with interface clutch discs 1_4~8_4 corresponding thereto；
Further, first joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3,
4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th
The both ends transmission shaft 1_9~8_3 of joint driving mechanism 8 pass through bearing 1_5~8_5 and bearing 1_6~8_6 axial restraints, bearing
1_5~8_5 and bearing 1_6~8_6 are fixed on pedestal 1_3.
Further, first joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3,
4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th
" D " shaped sections of the transmission shaft 1_9~8_3 of joint driving mechanism 8 form interference fit, and transmission shaft 1_9~8_3 is logical
It is circumferentially fixed to cross " D " shaped sections.
Further, first joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3,
4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6 on the pedestal 1_3 it is single-row according to
Secondary arranged in series；7th joint driving mechanism 7 and the 8th joint driving mechanism 8 and the 6th joint driving mechanism 6 are at the bottom
It is arranged in parallel on seat 1_3.
Further, the interface pedestal 1_3 includes base housing 1_3_1 and base outer cover 1_3_2, the pedestal
Shell 1_3_1 is equipped with twice positioning convex platform, and the two sides base housing 1_3_1 are respectively equipped with two stay bolt holes, the length
Bolt hole is connected with base outer cover 1_3_2.
Further, there are two the base outer cover 1_3_2, it is mounted and fixed to the two of base housing 1_3_1 respectively
Side；Guide chute is designed above base outer cover 1_3_2, guide chute top is in " horn mouth " shape, to facilitate surgical instrument to hold
The installation of row mechanism M, guide chute end and intermediate channel bottom are in " circular arc " shape, guide chute end above base outer cover 1_3_2
And " circular arc " shape sliding slot slot bottom opening direction at middle part is vertical with guide chute axis direction, and the guiding for being somebody's turn to do " circular arc " shape is slided
The fixed pin shaft 1_3_4 of slot end and intermediate channel bottom and surgical instrument executing agency M form " interference " cooperation, to prevent surgical device
The fixed pin shaft 1_3_4 of tool executing agency M from above base outer cover 1_3_2 guide chute end and intermediate channel bottom in it is " sliding
Go out ", cause surgical instrument executing agency M " to be detached " with quick-changing mechanism N；
Further, surgical instrument executing agency M can be installed to quick change along the guide chute above base outer cover 1_3_2
On mechanism N；Design is there are two stay bolt hole on base outer cover 1_3_2, two stay bolt holes and bottom above base outer cover 1_3_2
The long axially bored line in stay bolt hole above seat shell body 1_3_1 is vertical, and base outer cover 1_3_2 is facilitated to be mounted and fixed to base housing 1_
The relative mounting positions of base outer cover 1_3_2 and base housing 1_3_1 are adjusted when on 3_1.
Further, the quick-changing mechanism N interface pedestal 1_3 for minimally invasive surgery single hole operating robot, are also wrapped
Include a retaining mechanism 1_3_3 for being fixed to surgical instrument executing agency M on interface pedestal 1_3；The locking machine
Structure 1_3_3 includes two groups, and every group includes that a locking is linked up with, respectively locking hook 1_3_3_1 and locking hook 1_3_3_2,
One end of locking hook 1_3_3_1 and locking hook 1_3_3_2 are rotatably mounted on the same base outer cover 1_3_2, and locking is hung
Hook 1_3_3_1 and the locking hook 1_3_3_2 other ends are equipped with groove, and corresponding position is equipped on surgical instrument executing agency M shells
The boss of groove and corresponding position on surgical instrument executing agency M shells above 1_3_3_1,1_3_3_2 is linked up in boss, locking
Cooperation is used for fixation surgical instrument executing agency M.
First joint driving mechanism 1 can use a ball screw framework 1_2, can also be one flexible
Bar can also be the elevating lever of the drivings such as hydraulic pressure, cylinder, as long as can realize that the second joint driving mechanism 2, third are closed
Save driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the drive of the 7th joint
Motivation structure 7 and the 8th joint driving mechanism 8 and surgical instrument executing agency M relative to first joint driving mechanism 1
Connected fixed seat 1_1 is moved axially along the one 9_2 axis directions of arm section of surgical instrument executing agency M.
The operation principle of the present invention：
The axis realization around gear shaft 1_9 of the interface clutch discs 1_4 of first joint driving mechanism 1 rotates clockwise：It opens
Motor 1_7 on dynamic first joint driving mechanism 1, makes its output shaft rotate clockwise, and drives on the first joint driving mechanism 1
Shaft coupling 1_8, gear shaft 1_9 are rotated clockwise, and drive the interface clutch discs 1_4 on the first joint driving mechanism 1 around gear shaft
The axis both clockwise of 1_9 rotates.One 9_2 of arm section of surgical instrument executing agency M is relative to final drive box connecting sleeve 1_10
Active rotation clockwise and so that one 9_2 of arm section is changed with final drive box connecting sleeve 1_10 relative angles.
Start the motor 2_1 in second joint driving mechanism 2 simultaneously, its output shaft is made to rotate clockwise, drives second to close
Shaft coupling 2_2, transmission shaft 2_3, interface clutch discs 2_4 in section driving mechanism 2 are rotated clockwise, and the first joint 9_1 is being carried out
Second joint 10_1 is also carrying out rotation clockwise while rotation clockwise, and appropriate ratio is arranged, can make second joint 10_
1 with the first joint 9_1 " steering is identical, and rotating speed is equal ", one 9_2 of arm section of surgical instrument executing agency M is relative to final drive
Box connecting sleeve 1_10 active rotations clockwise and make one 9_2 of arm section relative to final drive box connecting sleeve 1_10 relative angles
When changing, passive rotation does not occur relative to one 9_2 of arm section and makes two 10_2 of arm section and one 9_2 phases of arm section by two 10_2 of arm section
It does not change to angle, achievees the purpose that realize " decoupling " by control.
Start the motor 3_1 on third joint driving mechanism 3 simultaneously, its output shaft is made to rotate clockwise, third is driven to close
Shaft coupling 3_2, transmission shaft 3_3, interface clutch discs 3_4 in section driving mechanism 3 are rotated clockwise, and second joint 10_1 is being carried out
Third joint 11_1 is also carrying out rotation clockwise while rotation clockwise, and appropriate ratio is arranged, can make third joint 11_
1 with the first joint 9_1 " steering is identical, and rotating speed is equal ", one 9_2 of arm section of surgical instrument executing agency M is relative to final drive
Box connecting sleeve 1_10 active rotations clockwise and make one 9_2 of arm section relative to final drive box connecting sleeve 1_10 relative angles
When changing, passive rotation does not occur relative to two 10_2 of arm section and makes three 11_2 of arm section and two 10_2 of arm section by three 11_2 of arm section
Relative angle does not change, and achievees the purpose that realize " decoupling " by control.
Start the motor 4_1 on the 4th joint driving mechanism 4 simultaneously, its output shaft is made to rotate clockwise, drives the 4th to close
Shaft coupling 4_2, transmission shaft 4_3, interface clutch discs 4_4 in section driving mechanism 4 are rotated clockwise, and second joint 10_1 is being carried out
4th joint 12_1 is also carrying out rotation clockwise while rotation clockwise, and appropriate ratio is arranged, can make the 4th joint 12_
1 with the first joint 9_1 " steering is identical, and rotating speed is equal ", one 9_2 of arm section of surgical instrument executing agency M is relative to final drive
Box connecting sleeve 1_10 active rotations clockwise and make one 9_2 of arm section relative to final drive box connecting sleeve 1_10 relative angles
When changing, passive rotation does not occur relative to three 11_2 of arm section and makes four 12_2 of arm section and three 11_2 of arm section by four 12_2 of arm section
Relative angle does not change, and achievees the purpose that realize " decoupling " by control.
Start the motor 5_1 on the 5th joint driving mechanism 5 simultaneously, its output shaft is made to rotate clockwise, drives the 5th to close
5 shaft coupling 5_2, transmission shaft 5_3, interface clutch discs 5_4 are rotated clockwise in section driving mechanism, and second joint 10_1 is being carried out
5th joint 13_1 is also carrying out rotation clockwise while rotation clockwise, and appropriate ratio is arranged, can make the 5th joint 13_
1 with the first joint 9_1 " steering is identical, and rotating speed is equal ", one 9_2 of arm section of surgical instrument executing agency M is relative to final drive
Box connecting sleeve 1_10 active rotations clockwise and make one 9_2 of arm section relative to final drive box connecting sleeve 1_10 relative angles
When changing, passive rotation does not occur relative to four 12_2 of arm section and makes five 13_2 of arm section and four 12_2 of arm section by five 13_2 of arm section
Relative angle does not change, and achievees the purpose that realize " decoupling " by control.
Start the motor 6_1 on the 6th joint driving mechanism 6 simultaneously, its output shaft is made to rotate clockwise, drives the 6th to close
6 shaft coupling 6_2, transmission shaft 6_3, interface clutch discs 6_4 are rotated clockwise in section driving mechanism, and second joint 10_1 is being carried out
6th joint 14_1 is also carrying out rotation clockwise while rotation clockwise, and appropriate ratio is arranged, can make the 6th joint 14_
1 with the first joint 9_1 " steering is identical, and rotating speed is equal ", one 9_2 of arm section of surgical instrument executing agency M is relative to final drive
Box connecting sleeve 1_10 active rotations clockwise and make one 9_2 of arm section relative to final drive box connecting sleeve 1_10 relative angles
When changing, passive rotation does not occur relative to five 13_2 of arm section and makes six 14_2 of arm section and five 13_2 of arm section by six 14_2 of arm section
Relative angle does not change, and achievees the purpose that realize " decoupling " by control.
Start the motor 7_1 on the 7th joint driving mechanism 7 simultaneously, its output shaft is made to rotate clockwise, drives the 7th to close
Shaft coupling 7_2, transmission shaft 7_3, interface clutch discs 7_4 in section driving mechanism 7 are rotated clockwise, and second joint 10_1 is being carried out
7th joint 15_1 is also carrying out rotation clockwise while rotation clockwise, and appropriate ratio is arranged, can make the 7th joint 15_
1 with the first joint 9_1 " steering is identical, and rotating speed is equal ", one 9_2 of arm section of surgical instrument executing agency M is relative to final drive
Box connecting sleeve 1_10 active rotations clockwise and make one 9_2 of arm section relative to final drive box connecting sleeve 1_10 relative angles
When changing, passive rotation does not occur relative to six 14_2 of arm section and makes seven 15_2 of arm section and six 14_2 of arm section by seven 15_2 of arm section
Relative angle does not change, and achievees the purpose that realize " decoupling " by control.
Start the motor 8_1 on the 8th joint driving mechanism 8 simultaneously, its output shaft is made to rotate clockwise, drives the 8th to close
Shaft coupling 8_2, transmission shaft 8_3, interface clutch discs 8_4 in section driving mechanism 8 are rotated clockwise, and second joint 10_1 is being carried out
8th joint 16_1 is also carrying out rotation clockwise while rotation clockwise, and appropriate ratio is arranged, can make the 8th joint 16_
1 with the first joint 9_1 " steering is identical, and rotating speed is equal ", one 9_2 of arm section of surgical instrument executing agency M is relative to final drive
Box connecting sleeve 1_10 active rotations clockwise and make one 9_2 of arm section relative to final drive box connecting sleeve 1_10 relative angles
When changing, passive rotation does not occur relative to six 14_2 of arm section and makes eight 16_2 of arm section and six 14_2 of arm section by eight 16_2 of arm section
Relative angle does not change, and achievees the purpose that realize " decoupling " by control.
The axis realization around gear shaft 1_9 of the interface clutch discs 1_4 of first joint driving mechanism 1 rotates counterclockwise：The
The axis realization around gear shaft 1_9 of the interface clutch discs 1_4 of one joint driving mechanism 1 rotates counterclockwise and the first joint drive
The axis realization around gear shaft 1_9 of the interface clutch discs 1_4 of mechanism 1 rotates clockwise " drive path is identical, turns to opposite ".
Second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint drive machine
Structure 5, the 6th joint driving mechanism 6 interface clutch discs 2_4~6_4 around gear shaft 2_3~6_3 axis realize clockwise turn
It is dynamic：The axis realization around gear shaft 1_9 with the interface clutch discs 1_4 of the first joint driving mechanism 1 rotates clockwise " transmission side
Formula is similar ", it is that the joint driving mechanism actively rotates, by (close surgical instrument behind the active cradle head driving mechanism
The side in the ends executing agency M joint (eight 16_1 of seven 15_1 of joint and joint)) all joint driving mechanisms simultaneously actively turn
It is dynamic, appropriate ratio is set, can make behind the active cradle head driving mechanism (to close close to the ends surgical instrument executing agency M
Save (eight 16_1 of seven 15_1 of joint and joint) side) all joint driving mechanisms with the active cradle head driving mechanism
" steering is identical, and rotating speed is equal ", keeps the arm section of the surgical instrument executing agency M of the active cradle head driving mechanisms control opposite
It is suitable in previous alternate arm section (side far from the ends surgical instrument executing agency M joint (eight 16_1 of seven 15_1 of joint and joint))
Hour hands active rotation and make the arm section of the surgical instrument executing agency M of the active cradle head driving mechanisms control with it is previous adjacent
Arm section (side far from the ends surgical instrument executing agency M joint (eight 16_1 of seven 15_1 of joint and joint)) relative angle occurs
When variation, behind the active cradle head driving mechanism (close to the ends surgical instrument executing agency M joint (seven 15_1 of joint and
Eight 16_1 of joint) side) all joint driving mechanisms correspond to control surgical instrument executing agency M arm section relative to this
Passive rotation does not occur and the active is made to rotate for the arm section of the surgical instrument executing agency M of active cradle head driving mechanisms control
Behind joint driving mechanism (side close to the ends surgical instrument executing agency M joint (eight 16_1 of seven 15_1 of joint and joint))
All joint driving mechanisms correspond to control surgical instrument executing agency M arm section and the active cradle head driving mechanism control
The arm section relative angle of the surgical instrument executing agency M of system does not change, and achievees the purpose that realize " decoupling " by control.
Second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint drive machine
Structure 5, the 6th joint driving mechanism 6 interface clutch discs 2_4~6_4 around gear shaft 2_3~6_3 axis realize counterclockwise turn
It is dynamic：Second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5,
The axis realization around gear shaft 2_3~6_3 of interface clutch discs 2_4~6_4 of six joint driving mechanisms 6 rotates counterclockwise and the
Two joint driving mechanisms 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism the 5, the 6th close
The axis realization around gear shaft 2_3~6_3 for saving interface clutch discs 2_4~6_4 of driving mechanism 6 rotates clockwise " transmission road
Line is identical, turns to opposite ".
The axis realization around transmission shaft 7_3 of the interface clutch discs 7_4 of 7th joint driving mechanism 7 rotates clockwise：It opens
Motor 7_1 on dynamic 7th joint driving mechanism 7, makes its output shaft rotate clockwise, and drives on the 7th joint driving mechanism 7
Shaft coupling 7_2, transmission shaft 7_3, interface clutch discs 7_4 are rotated clockwise, and seven 15_2 of arm section of surgical instrument executing agency M is opposite
Seven 15_2 of arm section is set to change with six 14_2 relative angles of arm section in six 14_2 of arm section active rotations clockwise.
The axis realization around sun wheel shaft 7_3 of the interface clutch discs 7_4 of 7th joint driving mechanism 7 rotates counterclockwise：
The axis realization around sun wheel shaft 7_3 of the interface clutch discs 7_4 of 7th joint driving mechanism 7 rotates counterclockwise and the 7th joint
The interface clutch discs 7_4 of driving mechanism 7 around sun wheel shaft 7_3 axis realization rotate clockwise " drive path is identical, turn to
On the contrary ".
The axis realization around transmission shaft 8_3 of the interface clutch discs 8_4 of 8th joint driving mechanism 8 rotates clockwise：It opens
Motor 8_1 on dynamic 8th joint driving mechanism 8, makes its output shaft rotate clockwise, and drives 8 on the 8th joint driving mechanism
Shaft coupling 8_2, transmission shaft 8_3, interface clutch discs 8_4 are rotated clockwise, and eight 16_2 of arm section of surgical instrument executing agency M is opposite
Eight 16_2 of arm section is set to change with six 14_2 relative angles of arm section in six 14_2 of arm section active rotations clockwise.
The axis realization around sun wheel shaft 8_3 of the interface clutch discs 8_4 of 8th joint driving mechanism 8 rotates counterclockwise：
The axis realization around sun wheel shaft 8_3 of the interface clutch discs 8_4 of 8th joint driving mechanism 8 rotates counterclockwise and the 8th joint
The interface clutch discs 8_4 of driving mechanism 8 around sun wheel shaft 8_3 axis realization rotate clockwise " drive path is identical, turn to
On the contrary ".
The adjustment of relative installation between base outer cover 1_3_2 and base housing 1_3_1：
Design is there are two stay bolt hole on base outer cover 1_3_2, and the two sides base housing 1_3_1 separately design that there are two long
Bolt hole, two stay bolt holes above base outer cover 1_3_2 are hung down with the long axially bored line in stay bolt hole above base housing 1_3_1
It directly, can be by adjusting base outer cover 1_3_2 and pedestal when two base outer cover 1_3_2 are fixed on base housing 1_3_1
The fixed position relative in the stay bolt hole of shell 1_3_1 is opposite with the installation of base housing 1_3_1 to adjust base outer cover 1_3_2
Position.
Installation between surgical instrument executing agency M and joint driving mechanism N and dismounting：
When surgical instrument executing agency M is installed in joint driving mechanism N, surgical instrument executing agency M along pedestal outside
Cover " horn mouth " shape above 1_3_2 guide chute top slide into above base outer cover 1_3_2 guide chute end and in
Portion's slot bottom, the fixed pin shaft of guide chute end and intermediate channel bottom and surgical instrument executing agency M above base outer cover 1_3_2
" interference " cooperation is formed, while rotating two locking hooks 1_3_3_1,1_3_3_ above two base outer cover 1_3_2 respectively
2, make the boss of the groove and corresponding position on surgical instrument executing agency M shells above locking hook 1_3_3_1,1_3_3_2
Cooperation, to prevent the fixed pin shaft 1_3_4 of surgical instrument executing agency M " sliding from the guide chute above base outer cover 1_3_2
Go out ", cause surgical instrument executing agency M " to be detached " with joint driving mechanism N.Meanwhile the twice positioning on base housing 1_3_1
Boss can be positioned and fixed to surgical instrument executing agency M；
When surgical instrument executing agency M is detached from joint driving mechanism N, while two base outer cover 1_ are rotated respectively
Two lockings hook 1_3_3_1,1_3_3_2 above 3_2, make the groove and hand above locking hook 1_3_3_1,1_3_3_2
The boss separation of corresponding position on art instrument executing agency M shells, surgical instrument executing agency M is along on base outer cover 1_3_2
The guide chute end and intermediate channel bottom in face skid off base outer cover 1_3_2 from the guide chute top of " horn mouth " shape, make hand
Art instrument executing agency M " is detached " with joint driving mechanism N.
Embodiment 2
Illustrate present embodiment in conjunction with Fig. 9~Figure 10, on the basis of the technical solution of embodiment one, can will be used for minimally invasive
The layout of the quick-changing mechanism of the control decoupling of surgery single hole operating robot is changed to the structure in 9~Figure 10 of attached drawing.It will implement
The distributing adjustment of quick-changing mechanism of the control decoupling for minimally invasive surgery single hole operating robot in the technical solution of example one is
The technical solution of embodiment two, while the layout of the gear box of surgical instrument executing agency M being also adjusted to the skill of embodiment two
Art scheme equally correctly can drive and control decoupling.
The quick-changing mechanism N of the above-mentioned control decoupling for minimally invasive surgery single hole operating robot can be applied to double end class device
The driving and control decoupling of tool, are such as clamped class instrument, the driving for shearing class instrument and control decoupling；It is used for minimally invasive surgery by above-mentioned
8th joint driving mechanism 8 of the quick-changing mechanism of the control decoupling of single hole operating robot removes, and such as Fig. 4, can will be used for micro-
The quick-changing mechanism for creating the control decoupling of surgery single hole operating robot is applied to driving and the control decoupling of single head class instrument, such as cuts
Cut class instrument, the driving of 30 ° of hysteroscope class instruments and control decoupling.By the above-mentioned control for minimally invasive surgery single hole operating robot
The 7th joint driving mechanism 7, the 8th joint driving mechanism 8 of the quick-changing mechanism of decoupling remove, and can will be used for minimally invasive surgery list
The quick-changing mechanism of the control decoupling of hole operating robot is applied to driving and the control decoupling of 360 ° of hysteroscope class instruments.
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
In god and principle, any modification, equivalent replacement, improvement and so on should be included within the scope of the present invention.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (9)
1. the quick-changing mechanism of the control decoupling for single hole operating robot, which is characterized in that including a fixed seat, described
Fixed seat on the first, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism is installed；
First, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism is mounted on the same bottom
On seat, the joint driving mechanism of described first, second, third, fourth, the five, the six, the 7th and the 8th connects each by one
Mouth clutch discs execute instrument with the operation and are connected；
First, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism is distinguished by steel wire rope
The first, second, third, fourth, the five, the six, the 7th and the 8th joint of corresponding driving surgical instrument executing agency M executes machine
The rotation of structure.
2. the quick-changing mechanism for the control decoupling of single hole operating robot as described in claim 1, which is characterized in that described
It is first, second, third, fourth, the five, the six, the 7th identical with the structure of the 8th joint driving mechanism, include respectively one
Motor, the motor drive transmission shaft rotation, the transmission shaft to be connected with interface clutch discs corresponding thereto.
3. the quick-changing mechanism for the control decoupling of single hole operating robot as claimed in claim 2, which is characterized in that described
The both ends of the drive shaft of the first, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism pass through bearing axis
To fixation, bearing is fixed on the base.
4. the quick-changing mechanism for the control decoupling of single hole operating robot as claimed in claim 2, which is characterized in that described
The first, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism the transmission shaft section be in " D "
Font, transmission shaft are circumferentially fixed by " D " shaped sections.
5. the quick-changing mechanism for the control decoupling of single hole operating robot as described in claim 1, which is characterized in that described
The first, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism on the pedestal it is single-row successively
Arranged in series；7th joint driving mechanism and the 8th joint driving mechanism and the 6th joint driving mechanism on the pedestal simultaneously
Connection arrangement.
6. the quick-changing mechanism for the control decoupling of single hole operating robot as described in claim 1, which is characterized in that described
Interface pedestal include base housing and base outer cover, the base housing is equipped with twice positioning convex platform, base housing two
Side is respectively equipped with two stay bolt holes, and the stay bolt hole is connected with base outer cover.
7. the quick-changing mechanism for the control decoupling of single hole operating robot as claimed in claim 6, which is characterized in that described
Base outer cover there are two, be mounted and fixed to the both sides of base housing respectively；Guide chute is designed above base outer cover, is oriented to
Sliding slot top is in " horn mouth " shape；Guide chute end and intermediate channel bottom are in " circular arc " shape, guide chute above base outer cover
" circular arc " shape sliding slot slot bottom opening direction at end and middle part is vertical with guide chute axis direction, and is somebody's turn to do leading for " circular arc " shape
" interference " cooperation is formed to the fixed pin shaft at sliding slot end and intermediate channel bottom and surgical instrument executing agency.
8. the quick-changing mechanism for the control decoupling of single hole operating robot as claimed in claim 6, which is characterized in that described
Base outer cover on design there are two stay bolt hole, two stay bolt holes above base outer cover and the long spiral shell above base housing
The long axially bored line of keyhole is vertical, and base outer cover and base housing are adjusted when base outer cover being facilitated to be mounted and fixed on base housing
Relative mounting positions.
9. the quick-changing mechanism for the control decoupling of single hole operating robot as claimed in claim 6, which is characterized in that also wrap
Include a retaining mechanism for being fixed to surgical instrument executing agency in interface pedestal；The retaining mechanism includes two
Group, every group includes that a locking is linked up with, and one end of two locking hooks is rotatably mounted on the same base outer cover, locking hook
The other end is equipped with groove, and corresponding position is equipped with boss, the groove and hand of locking hook above on surgical instrument executing agency shell
The boss cooperation of corresponding position is used for fixation surgical instrument executing agency on art instrument executing agency shell.
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|---|---|---|---|
| CN201810177472.2A CN108309456A (en) | 2018-03-02 | 2018-03-02 | A kind of quick-changing mechanism of control decoupling for single hole operating robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810177472.2A CN108309456A (en) | 2018-03-02 | 2018-03-02 | A kind of quick-changing mechanism of control decoupling for single hole operating robot |
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| CN201810177472.2A Pending CN108309456A (en) | 2018-03-02 | 2018-03-02 | A kind of quick-changing mechanism of control decoupling for single hole operating robot |
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| CN108451642A (en) * | 2018-03-02 | 2018-08-28 | 山东大学齐鲁医院 | A kind of mechanically decoupled quick-changing mechanism for single hole operating robot |
| CN108942900A (en) * | 2018-10-12 | 2018-12-07 | 吉林大学 | The passive de-coupling mechanism of tandem rope drive System for Joint Motion of Manipulator |
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