CN110368091A - A kind of single hole abdominal operation robot system - Google Patents
A kind of single hole abdominal operation robot system Download PDFInfo
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- CN110368091A CN110368091A CN201910668664.8A CN201910668664A CN110368091A CN 110368091 A CN110368091 A CN 110368091A CN 201910668664 A CN201910668664 A CN 201910668664A CN 110368091 A CN110368091 A CN 110368091A
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- wire tray
- motor
- robot system
- support frame
- lead screw
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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
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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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
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Abstract
A kind of single hole abdominal operation robot system, it is related to a kind of surgical robot system, it includes pedestal, external manipulation mechanism and end effector mechanism, and the external manipulation mechanism includes feeding movement mechanism and rotational motion mechanism；The feeding movement mechanism installation is on the base, support frame is mounted on feeding movement mechanism and is done reciprocating linear motion by feeding movement mechanism driving, rotational motion mechanism is rotatablely installed on the support frame, instrument channel cavity one end is mounted in rotational motion mechanism, the other end is fixed with end effector mechanism, the end effector mechanism is driven by pulling force silk and is moved, and is driven in pulling force silk merging instrument path pouch and by wire tray driver.The configuration of the present invention is simple and operation are reliable flexible.
Description
Technical field
The present invention relates to a kind of surgical robot systems, and in particular to a kind of single hole abdominal operation robot system.
Background technique
With the continuous development of robot technology, minimally invasive abdominal operation robot is used widely in abdominal operation.
Currently, minimally invasive abdominal operation robot system is by possessing the external manipulation mechanism and end effector mechanism of multifreedom motion ability
Composition.But external manipulation mechanism and end effector mechanism arrange unreasonable, the freedom degree and spirit of robot system surgical procedure
Activity is lower, thereby reduces the surgical procedure ability of end effector mechanism.
Summary of the invention
The present invention is in order to overcome the deficiencies of the prior art, to provide a kind of reliable flexible single hole abdominal operation robot of operation
System.
The technical scheme is that
A kind of single hole abdominal operation robot system, it includes pedestal, external manipulation mechanism and end effector mechanism, described
External manipulation mechanism includes feeding movement mechanism and rotational motion mechanism；The feeding movement mechanism installation on the base, supports
Frame is mounted on feeding movement mechanism and is done reciprocating linear motion by feeding movement mechanism driving, the rotational installation of rotational motion mechanism
On the support frame, instrument channel cavity one end is mounted in rotational motion mechanism, and the other end is fixed with end effector mechanism, the end
It holds executing agency to be driven by pulling force silk to move, be driven in pulling force silk merging instrument path pouch and by wire tray driver.
Further, the feeding movement mechanism includes feeding motor, lead screw pair and pedestal；Pedestal is installed on the base,
Feeding motor is mounted on the base, and the lead screw of lead screw pair is connect with the output end of feeding motor, the lead screw rotational installation of lead screw pair
On pedestal, support frame is mounted on the screw of lead screw pair.
Further, the rotational motion mechanism includes driving motor and fixed frame；Fixed frame is rotatably installed in support frame
On, driving motor drives fixed frame rotation.
Further, instrument channel cavity two sides are located on fixed frame and are respectively disposed with wire tray driver, the wire tray is driven
Dynamic device includes wire tray motor and wire tray；Wire tray motor is mounted on fixed frame, and wire tray motor drives wire tray rotation, two pulling force silks
One end is fixed in surgical end executing agency, two pulling force silks rotating around in corresponding two wire trays, two pulling force silks
The other end is fixed in corresponding wire tray.
The present invention has the effect that compared with prior art
1, the direction of feed of external manipulation mechanism, the shaft of rotational motion mechanism are coaxial with end effector mechanism, pass through
External manipulation mechanism increases the freedom degree and flexibility ratio of system operation operation, improves the operation behaviour of internal end effector mechanism
Make ability；
2, end effector mechanism intersects tandem arrangement using multiple flexible positive cylinders using central sill along straight line configuration,
Realize the bending of single-degree-of-freedom 180 degree.By multiple degrees of freedom cross-over configuration, multiple degrees of freedom can be achieved using four driving silks and match
It sets, substantially increases the flexibility and movement angle range of mechanism kinematic, flexion angular range greatly increases.Structure letter
It is single, it is reliable for operation.
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Detailed description of the invention
Fig. 1 is the perspective view from the single hole abdominal operation robot system of the invention in terms of a direction；
Fig. 2 is the perspective view from the single hole abdominal operation robot system of the invention in terms of another direction；
Fig. 3 is the perspective view of end effector mechanism.
Specific embodiment
Illustrate referring to Fig. 1-Fig. 2, a kind of single hole abdominal operation robot system of present embodiment, it includes pedestal 1, outside
Operating mechanism and end effector mechanism 11；
The external manipulation mechanism includes feeding movement mechanism A and rotational motion mechanism B；The feeding movement mechanism A peace
On pedestal 1, support frame 4 is mounted on feeding movement mechanism A and is done reciprocating linear motion by feeding movement mechanism A driving,
Rotational motion mechanism B is rotatably installed on support frame 4, and 10 one end of instrument channel cavity is mounted on rotational motion mechanism B, another
End is fixed with end effector mechanism 11, which is driven by pulling force silk and moved, and pulling force silk is placed in instrument channel lumens
It is driven in body 10 and by wire tray driver D.In present embodiment end effector mechanism be the prior art, application number:
201910463889X, a kind of title: end effector mechanism of single-hole laparoscopic surgery.
In above embodiment, as shown in Figure 1, the feeding movement mechanism A includes feeding motor 2, lead screw pair and pedestal
12；Pedestal 12 is mounted on pedestal 1, and feeding motor 2 is mounted on pedestal 12, the lead screw 30 of lead screw pair with feed the defeated of motor 2
Outlet connection, the lead screw 30 of lead screw pair are rotatably installed on pedestal 12, and support frame 4 is mounted on the screw 31 of lead screw pair.Into one
Step ground, the rotational motion mechanism B includes driving motor 80 and fixed frame 81；Fixed frame 81 is rotatably installed on support frame 4, is driven
Dynamic motor 80 drives fixed frame 81 to rotate.
In order to guarantee that the reliability service of operation, wire tray driver D design two, be located at instrument channel cavity on fixed frame 81
10 two sides are respectively disposed with wire tray driver D, and the wire tray driver D includes wire tray motor 6 and wire tray 7；Wire tray motor 6 is installed
On fixed frame 81, wire tray motor 6 drives wire tray 7 to rotate, and two pulling force silk one end are fixed in surgical end executing agency 11,
Rotating around in corresponding two wire trays 7, the other end of two pulling force silks is fixed in corresponding wire tray 7 two pulling force silks.It draws
Power silk can be steel wire or wirerope.The working principle of end effector mechanism 11 is according to application number 201910463889X, denomination of invention
Are as follows: a kind of end effector mechanism of single-hole laparoscopic surgery.As shown in figure 3, a kind of end of single-hole laparoscopic surgery executes machine
Structure, it is flexible positive cylinder, is equipped with multipair groove 111 on flexible positive cylinder axial direction, each pair of groove 111 is radially opened
If between adjacent grooves 111 and flexible positive cylinder both ends are orifice plate 112 in axial direction, orifice plate 112 is by partition groove 111
Central sill 113 supports, axial along flexible positive cylinder, and wire hole 115 is provided on central sill 113, it is recessed that perforation is also provided on orifice plate 112
The wire hole 115 of slot 111, the wire hole 115 positioned at 113 the same side of central sill are located along the same line.Pulling force silk, which is arranged in, wears silk
The bending of flexible positive cylinder is realized in hole 115 and by wire tray driver D driving.Flexible positive cylinder one end is fixed on instrument channel
The end of cavity 10.It is wound in wire tray 7 by arranging pulling force silk in wire hole 115 and being protruded into through instrument channel cavity 10.
Referring to figure 1 and figure 2, the rotation axis of the fixed frame 81 and the lead screw 30 of lead screw pair are parallel.So set,
The direction of feed motion of feeding movement mechanism A is identical as the draw direction of pulling force silk.Space is saved, convenient for the smooth of abdominal operation
It carries out.
In order to guarantee the reliable and stable movement of support frame 4, support frame as described above 4 includes support frame 40 and two side frames 41；Branch
Two side frames 41 being oppositely arranged are installed, fixed frame 81 is mounted on two side frames 41 by bearing on 40 upper surface of support frame.
So set, fixing fixed frame 81 using two side frames 41, it is ensured that fixed frame 81 can be reliable and stable by wire tray driver D
It fixes.Further, the fixed frame 81 includes hollow square box 810 and two motor cabinets 811；Hollow square box
810 are mounted on two side frames 41 by bearing, and instrument channel cavity 10 is connect with hollow square box 810, and hollow is rectangular
It is oppositely arranged on frame 810 there are two motor cabinet 811, wire tray motor 6, hollow square box 810 is installed on each motor cabinet 811
It is inside rotatably equipped with wire tray 7, wire tray motor 6 drives wire tray 7 to rotate.Wire tray 7 is arranged in hollow square box 810, is both saved
Space also ensures the reliable and stable operation of wire tray driver D.
Working principle
Freedom degree that there are two external manipulation mechanism tools, the feeding movement mechanism A respectively driven by feeding motor 2, drives
The circumferential rotational motion along end effector mechanism 11 that motor 80 drives.Wherein, feed motion will feed electricity by lead screw pair
Machine 2 is converted into linear motion to realize the feed motion of end effector mechanism 11 in the axial direction；Rotational motion mechanism B
It is fixed in lead screw pair by support frame 4, is driven by lead screw 30 and realize feed motion；Driving motor 80 is fixed on support frame 4,
Fixed frame 81 is fixed on support frame 4 by bearing, is realized by the driving of driving motor 8 around 11 axis of end effector mechanism
Rotation；10 front end fixation ends of instrument channel cavity execute structure 11, and rear end and hollow 810 rigidity of square box are connected；Turning
While dynamic movement mechanism B rotation, instrument path pouch 10 and 11 synchronous rotary of end effector mechanism are driven；End effector mechanism
11 drive by pulling force silk, and pulling force silk is wound in wire tray 9 by instrument channel cavity 10, by the rotation of two wire tray motors 6
The rotation of wire wrapping disk 9 is driven, the rotation of wire wrapping disk 9 winds pulling force silk, and then controls the movement of end effector mechanism 11.
The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any to be familiar with this profession
Technical staff, without departing from the scope of the present invention, according to the technical essence of the invention to the above case study on implementation institute
Any simple modification, equivalent change and modification done still belong to technical solution of the present invention range.
Claims (7)
1. a kind of single hole abdominal operation robot system, it includes pedestal 1, external manipulation mechanism and end effector mechanism, spy
Sign is:
The external manipulation mechanism includes feeding movement mechanism (A) and rotational motion mechanism (B)；The feeding movement mechanism (A)
It is mounted on pedestal (1), support frame (4) is mounted on feeding movement mechanism (A) and is made by feeding movement mechanism (A) driving reciprocal
Linear motion, rotational motion mechanism (B) are rotatably installed on support frame (4), and instrument channel cavity (10) one end is mounted on rotation
On movement mechanism (B), the other end is fixed with end effector mechanism (11), which is driven by pulling force silk and transported
Dynamic, pulling force silk is placed in instrument path pouch (10) and is driven by wire tray driver (D).
2. a kind of single hole abdominal operation robot system according to claim 1, it is characterised in that: the feeding movement mechanism
It (A) include feeding motor (2), lead screw pair and pedestal (12)；
Pedestal (12) is mounted on pedestal (1), feeding motor (2) be mounted on pedestal (12), the lead screw (30) of lead screw pair with into
To the output end connection of motor (2), the lead screw (30) of lead screw pair is rotatably installed on pedestal (12), and support frame (4) is mounted on silk
On the screw (31) of thick stick pair.
3. a kind of single hole abdominal operation robot system according to claim 2, it is characterised in that: the rotational motion mechanism
It (B) include driving motor (80) and fixed frame (81)；Fixed frame (81) is rotatably installed on support frame (4), driving motor (80)
Drive fixed frame (81) rotation.
4. a kind of single hole abdominal operation robot system according to claim 3, it is characterised in that: fixed frame is located on (81)
Instrument channel cavity (10) two sides are respectively disposed with wire tray driver (D), and the wire tray driver (D) includes wire tray motor (6)
With wire tray (7)；Wire tray motor (6) is mounted on fixed frame (81), and wire tray motor (6) drives wire tray (7) rotation, two pulling force silks
One end is fixed on surgical end executing agency (11), and rotating around on corresponding two wire trays (7), two are drawn two pulling force silks
The other end of power silk is fixed on corresponding wire tray (7).
5. a kind of single hole abdominal operation robot system according to claim 4, it is characterised in that: the fixed frame (81)
Rotation axis is parallel with lead screw (30) of lead screw pair.
6. a kind of single hole abdominal operation robot system according to claim 5, it is characterised in that: support frame as described above (4) packet
Include support frame (40) and two side frames (41)；Two side frames (41) being oppositely arranged are installed on support frame (40) upper surface, Gu
Determine frame (81) to be mounted on two side frames (41) by bearing.
7. a kind of single hole abdominal operation robot system according to claim 6, it is characterised in that: fixed frame (81) packet
Include hollow square box (810) and two motor cabinets (811)；Hollow square box (810) is mounted on two side frames by bearing
(41) on, instrument channel cavity (10) is connect with hollow square box (810), and hollow square box is relatively set on (810)
Two motor cabinets (811) are equipped with wire tray motor (6) on each motor cabinet (811), rotation peace in hollow square box (810)
Equipped with wire tray (7), wire tray motor (6) drives wire tray (7) rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910668664.8A CN110368091A (en) | 2019-07-23 | 2019-07-23 | A kind of single hole abdominal operation robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910668664.8A CN110368091A (en) | 2019-07-23 | 2019-07-23 | A kind of single hole abdominal operation robot system |
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| Publication Number | Publication Date |
|---|---|
| CN110368091A true CN110368091A (en) | 2019-10-25 |
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ID=68255273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910668664.8A Pending CN110368091A (en) | 2019-07-23 | 2019-07-23 | A kind of single hole abdominal operation robot system |
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| CN (1) | CN110368091A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111529064A (en) * | 2020-05-09 | 2020-08-14 | 山东大学 | Linear driving device of surgical robot and surgical robot |
| CN113040918B (en) * | 2021-03-17 | 2022-07-26 | 山东大学 | Surgical robot for removing limited space bone lesion area |
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| US20050216033A1 (en) * | 2001-02-15 | 2005-09-29 | Endo Via Medical Inc. | Robotically controlled medical instrument with a flexible section |
| CN103948435A (en) * | 2014-05-15 | 2014-07-30 | 上海交通大学 | Single-port laparoscopy minimally invasive surgery robot system |
| CN104758060A (en) * | 2015-04-07 | 2015-07-08 | 哈尔滨工业大学 | Multi-degree-of-freedom flexible robot used for single-port celiac minimally invasive surgery |
| CN206484590U (en) * | 2016-08-09 | 2017-09-12 | 北京动力京工科技有限公司 | A kind of superelastic alloy piece mechanical arm |
| CN206840081U (en) * | 2017-07-06 | 2018-01-05 | 哈尔滨工业大学深圳研究生院 | A kind of line drives flexible robot |
| CN108704214A (en) * | 2018-04-28 | 2018-10-26 | 燕山大学 | Interventional surgery robotic catheter/seal wire rotating mechanism and propulsion device |
| CN109199591A (en) * | 2018-10-19 | 2019-01-15 | 上海交通大学 | Ear nose basis cranii micro-wound operation robot and its operating method |
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2019
- 2019-07-23 CN CN201910668664.8A patent/CN110368091A/en active Pending
Patent Citations (7)
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|---|---|---|---|---|
| US20050216033A1 (en) * | 2001-02-15 | 2005-09-29 | Endo Via Medical Inc. | Robotically controlled medical instrument with a flexible section |
| CN103948435A (en) * | 2014-05-15 | 2014-07-30 | 上海交通大学 | Single-port laparoscopy minimally invasive surgery robot system |
| CN104758060A (en) * | 2015-04-07 | 2015-07-08 | 哈尔滨工业大学 | Multi-degree-of-freedom flexible robot used for single-port celiac minimally invasive surgery |
| CN206484590U (en) * | 2016-08-09 | 2017-09-12 | 北京动力京工科技有限公司 | A kind of superelastic alloy piece mechanical arm |
| CN206840081U (en) * | 2017-07-06 | 2018-01-05 | 哈尔滨工业大学深圳研究生院 | A kind of line drives flexible robot |
| CN108704214A (en) * | 2018-04-28 | 2018-10-26 | 燕山大学 | Interventional surgery robotic catheter/seal wire rotating mechanism and propulsion device |
| CN109199591A (en) * | 2018-10-19 | 2019-01-15 | 上海交通大学 | Ear nose basis cranii micro-wound operation robot and its operating method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111529064A (en) * | 2020-05-09 | 2020-08-14 | 山东大学 | Linear driving device of surgical robot and surgical robot |
| CN111529064B (en) * | 2020-05-09 | 2021-03-26 | 山东大学 | Linear driving device of surgical robot and surgical robot |
| CN113040918B (en) * | 2021-03-17 | 2022-07-26 | 山东大学 | Surgical robot for removing limited space bone lesion area |
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Application publication date: 20191025 |
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| RJ01 | Rejection of invention patent application after publication |