CN107184275B - A kind of robot for assisting splanchnocoel Minimally Invasive Surgery - Google Patents
A kind of robot for assisting splanchnocoel Minimally Invasive Surgery Download PDFInfo
- Publication number
- CN107184275B CN107184275B CN201710611608.1A CN201710611608A CN107184275B CN 107184275 B CN107184275 B CN 107184275B CN 201710611608 A CN201710611608 A CN 201710611608A CN 107184275 B CN107184275 B CN 107184275B
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- joint
- swinging
- connecting rod
- support element
- mechanical arm
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
- A61B17/0218—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors 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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
- A61B2034/306—Wrists with multiple vertebrae
Abstract
A kind of robot for assisting splanchnocoel Minimally Invasive Surgery, it is related in a kind of splanchnocoel Minimally Invasive Surgery for endoscope and the robot of surgical instrument to be clamped, it is unstable to overcome in traditional minimal invasive surgical procedures assistant's long-term holding endoscope and surgical instrument that lesion image caused by hand-motion jitter and fatigue is caused to show, with can not to lesion tissue provide stablize, lasting operation traction force, it includes pedestal, intermediate mechanical arm and side mechanical arm；The intermediate mechanical arm includes positioning joint and the end effector for endoscope to be clamped；The positioning joint includes swinging joint one, swinging joint two, swinging joint three and swinging joint four；The side mechanical arm includes swinging joint five and rotary joint；Rotary joint and five kinds of swinging joints include that swinging mechanism is surveyed in the locking containing clutch, encoder, rotation axis and axle sleeve.The present invention is used for splanchnocoel Minimally Invasive Surgery.
Description
Technical field
The present invention relates in a kind of abdominal-cavity minimal-invasion surgery for endoscope and the robot of surgical instrument to be clamped, it is micro- in abdominal cavity
In invasive procedures, it replaces assistant to hold endoscope, drawing tissue, belongs to abdominal minimally invasive surgery technical field of medical equipment.
Background technology
Minimally Invasive Surgery does not open the advantages that abdomen, wound are small, pain is small, recovery is fast by it, has worldwide obtained wide
General application.In traditional Minimally Invasive Surgery, doctor holds surgical instrument and is operated, and assistant holds endoscope offer vision and draws
It leads, this operation embodiment is poor in the presence of such as doctor's eye-hand coordination, and long-term holding surgical instrument easily leads to doctor
The defects of fatigue, the location conflicts being easy to happen between doctor and assistant.To solve to ask present in above-mentioned traditional Minimally Invasive Surgery
Topic, is applied to Minimally Invasive Surgery, the robot assisted Minimally Invasive Surgery thus to grow up changes Minimally Invasive Surgery by robot technology
Embodiment, improve the precision and flexibility ratio of surgical procedure to a certain extent by robot technology.Currently, robot
Application in Minimally Invasive Surgery field mainly has the Chi Jing robots for replacing assistant to hold endoscope, or by doctor and assistant
Instead of the operating robot performed the operation completely with robot.
Patent No. 200910059382.4, Publication No. CN101548904A, the hair that publication date is on October 7th, 2009
Bright patent discloses one kind《A kind of robot arm for operation》, robot arm for operation described in the patent have 7+1 it is superfluous
Endoscope is clamped using parallelogram mechanism in cofree degree, ensure that the change of position only occurs for end-of-arm tooling and posture
It does not change.It it is on November 24th, 2010 application No. is 201010223253.7, Publication No. CN101889900A, publication date
Patent of invention disclose one kind《The master-slave integrated mechanical arm of assisted minimally invasive surgical operation》, the mechanical arm described in the patent
It is integrated by main operation end and from operating side, simplifies the structure of master-slave minimally-invasive surgery robot, the robot is for pressing from both sides
Hold endoscope.Patent No. 201020638216.8, Publication No. CN201888846U, the reality that publication date is on July 6th, 2011
One kind is disclosed with new patent《Chi Jing robots for Minimally Invasive Surgery》, the Chi Jing robots described in the patent pass through each
Resultant motion is matched in joint, for realizing the movement of mirror arm is held.Application No. is 201010274701.6, Publication No.
CN202515789U, the patent of invention that publication date is on December 22nd, 2010 disclose one kind《One kind has big space high
The minimally invasive robot mechanical arm of structural rigidity》, there are four degree of freedom for the passive adjustment arm tool described in the patent, in being clamped
Sight glass assists doctor to implement Minimally Invasive Surgery operation.Application No. is 201610139868.9, Publication No. CN105686883A ﹑ to disclose
Day discloses one kind for patent of invention on March 14th, 2016《A kind of redundant degree of freedom holds mirror mechanical arm》, described in the patent
Holding mirror mechanical arm has redundant degree of freedom, can overcome Singularity, more neatly can provide required fortune for endoscope
It is dynamic.Number of patent application is 201510511637.1, Publication No. CN105147393A ﹑ publication date is that August in 2015 is invented on the 19th
Patent discloses one kind《A kind of minimally invasive robot holds mirror mechanical arm》, mirror mechanical arm, endoscope folder are held described in the patent
Mechanism is held to be designed using three-stage so that single unit system is compact-sized.Number of patent application is 201220096081.6, Publication No.
CN202515789U, the utility model patent that publication date is on November 7th, 2012 disclose one kind《It is a kind of for Minimally Invasive Surgery
Hold mirror mechanical arm》, the mechanical arm described in the patent be only used for clamping Endoscope-assisted doctor implement Minimally Invasive Surgery operation.It is above-mentioned
These machines are used for that endoscope is clamped and provides movement for it per capita.
Number of patent application is 201310556341.2, Publication No. CN103565529A ﹑ publication date is on 2 12nd, 2014
Patent of invention discloses one kind《A kind of robot assisted micro-wound surgical operation multifunctional mechanical arm》, one kind is described in the patent
Multifunctional mechanical arm uses parallelogram mechanism to carry out surgical instrument terminal angle adjusting.
Patent No. 201120329640.9, Publication No. CN202313715U, the reality that publication date is on July 11st, 2012
One kind is disclosed with new patent《Micro-wound operation robot mechanical arm arrangements structure》, number of patent application is
201610701039.5, Publication No. CN106236267A, the patent of invention that publication date is on December 21st, 2016 disclose one
Kind《A kind of assisted minimally invasive surgical operation robot mechanical arm arrangements structure》, number of patent application 201320465264.5, openly
Number it is CN203388943U, publication date is that the utility model patent on the 1st of August in 2013 discloses one kind《Minimally Invasive Surgery machine
People》, the mechanical arm described in above three patent becomes one by main operation end part and from operating side part, by single vertical
Column, single passive mechanical arm realize support and adjustment to multiple active operation arms, and endoscope and surgical instrument concentrate on machinery
The end of arm, is used to replace doctor and assistant to complete surgical procedure, and this mechanical arm tail end is passive type joint, control and behaviour
Make it is complex, and multiple manipulator motions during easy to produce interference and collision.In addition, application No. is 201510872335.7
Patent application propose that a kind of robot assisted Minimally Invasive Surgery is performed the operation micro- instrument with Flexible Multi-joint, be related to by conduit, flexible bending
The surgical instrument end effector that crank arm mechanism and operation jaw mechanism are constituted, the actuator are moved easily operation, instrument can be improved
Flexibility.
It being found by investigating, due in Minimally Invasive Surgery, it is desirable that the action of doctor and assistant have higher harmony, and
Assistant's long-term holding endoscope and surgical instrument can lead to the unstable and shake held because of fatigue, and there is an urgent need to can by doctor
Instead of the robot that assistant works, is replaced assistant to hold endoscope with robot and carried out draw tissue, such doctor can
With under the auxiliary of robot complete independently perform the operation, and can guarantee the stability and drawing group of operative image by robot technology
Knit continual and steady tension.
Invention content
The present invention is that assistant's long-term holding endoscope and surgical instrument in traditional minimal invasive surgical procedures is overcome to lead to hand
Portion tremble and fatigue caused by lesion image show unstable, and can not provide lesion tissue that stabilization, lasting operation lead
Pulling force defect, and then a kind of robot for assisting splanchnocoel Minimally Invasive Surgery is provided.It replaces assistant to hold endoscope, hold
Surgical instrument for pulling tissue, so as to be led, drawn lesion tissue to provide continual and steady tension.
To achieve the goals above, the technical solution used in the present invention is：
A kind of robot for assisting splanchnocoel Minimally Invasive Surgery, it includes pedestal, intermediate mechanical arm and side mechanical arm；
The intermediate mechanical arm includes positioning joint and the end effector for endoscope to be clamped；
The positioning joint includes swinging joint one, swinging joint two, swinging joint three and swinging joint four；
The swinging joint two includes that swinging mechanism is surveyed in upper supporting piece two and locking；
The swinging joint three includes that swinging mechanism is surveyed in upper supporting piece three, lower support element three and locking；
The swinging joint four includes that swinging mechanism is surveyed in upper supporting piece four, lower support element four and locking；
The swinging joint one includes that swinging mechanism is surveyed in upper supporting piece one, lower support element one and locking；
The side mechanical arm includes swinging joint five and rotary joint；
The swinging joint five includes that swinging mechanism is surveyed in upper supporting piece five, lower support element five and locking；
The rotary joint includes that swing mechanism is surveyed in rotary support member one, rotary support member two and locking；
It includes clutch, encoder, rotation axis and axle sleeve that swinging mechanism is surveyed in the locking；
Clutch, encoder and axle sleeve are installed, rotation axis is connect by bearing with clutch, swinging joint in rotation axis
One, the rotation axis of swinging joint two, swinging joint three and swinging joint four is vertically arranged in parallel；
It is mounted on axis on upper supporting piece two, upper supporting piece three, upper supporting piece four, upper supporting piece five and rotary support member one
Set, is equipped with encoder on lower support element three, lower support element four, lower support element five and rotary support member two, on upper supporting piece one
Encoder is installed, axle sleeve is installed on lower support element one；
Encoder in swinging joint two, which is mounted on, to be arranged in the vertical mechanism on pedestal, and vertical mechanism energy band movable pendulum is dynamic
Joint two moves up and down, and upper supporting piece two is connect with lower support element three, and upper supporting piece three is connect with lower support element four, lower support element
Four connect with upper supporting piece one, and upper supporting piece four is connect with the end effector for endoscope to be clamped；
The side of lower support element one is equipped with lower support element five, and upper supporting piece five is connect with rotary support member two.
Compared with the prior art, the invention has the advantages that：1, the present invention overcomes because human hand tremble and fatigue and
Caused lesion image shows the defects of unintelligible, provides stabilization, clearly operative image.
2, the present invention can provide the tension for leading, drawing lesion tissue continual and steady.
3, structure of the invention is ingenious in design, flexibly and easily, the collision with operating doctor can be reduced when performing the operation and carrying out.
4, the telecentricity mechanism that endoscope is clamped and the surgical instrument end effector of drawing tissue are integrated in one by the present invention
On a intermediate mechanical arm, reduce the spatial volume of entire operating robot.
Description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is the axonometric drawing of pedestal 1；
Fig. 3 is the schematic diagram of intermediate mechanical arm 2；
Fig. 4 is telecentricity mechanism overall structure diagram；
Fig. 5 is the structural schematic diagram of the revolute joint 2-7 of telecentricity mechanism；
Fig. 6 is the structural schematic diagram of the symmetrical joint 2-8 of telecentricity mechanism；
Fig. 7 is the structural schematic diagram of the linear joint 2-9 of telecentricity mechanism；
Fig. 8 is the structural schematic diagram of side mechanical arm 3 and surgical instrument end effector；
Fig. 9 is the exploded perspective view of two 2-2 of swinging joint；
Figure 10 is the exploded perspective view of three 2-3 of swinging joint；
Figure 11 is to swing the exploded perspective view for closing four 2-4；
Figure 12 is the exploded perspective view of one 2-1 of swinging joint；
Figure 13 is the exploded perspective view of five 3-1 of swinging joint；
Figure 14 is the exploded perspective view of rotary joint 3-2.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific implementation mode is further described technical scheme of the present invention.
Illustrate referring to Fig. 1 and Fig. 2, it is a kind of to be used to assist the robot of splanchnocoel Minimally Invasive Surgery to include pedestal 1, intermediate mechanical
Arm 2 and side mechanical arm 3；
The intermediate mechanical arm 2 includes positioning joint and the end effector for telecentricity positioning clamping endoscope；
The positioning joint includes one 2-1 of swinging joint, two 2-2 of swinging joint, three 2-3 of swinging joint and swinging joint four
2-4；
Two 2-2 of the swinging joint includes that swinging mechanism is surveyed in two 2-2-1 of upper supporting piece and locking；
Three 2-3 of the swinging joint includes that swinging mechanism is surveyed in three 2-3-1 of upper supporting piece, three 2-3-2 of lower support element and locking；
Four 2-4 of the swinging joint includes that swinging mechanism is surveyed in four 2-4-1 of upper supporting piece, four 2-4-2 of lower support element and locking；
One 2-1 of the swinging joint includes that swinging mechanism is surveyed in one 2-1-1 of upper supporting piece, one 2-1-2 of lower support element and locking；
The side mechanical arm 3 includes swinging joint five 3-1 and rotary joint 3-2；
Five 3-1 of the swinging joint includes that swinging mechanism is surveyed in five 3-1-1 of upper supporting piece, five 3-1-2 of lower support element and locking；
The rotary joint 3-2 includes that oscillating machine is surveyed in one 3-2-1 of rotary support member, two 3-2-2 of rotary support member and locking
Structure；
It includes clutch 2A, encoder 2B, rotation axis 2C and axle sleeve 2D that swinging mechanism is surveyed in the locking；
Clutch 2A, encoder 2B and axle sleeve 2D are installed, rotation axis 2C passes through bearing and clutch 2A on rotation axis 2C
Connection, one 2-1 of swinging joint, two 2-2 of swinging joint, three 2-3 of swinging joint and the rotation axis of swinging joint 2-4 are vertically parallel
Setting；
Two 2-2-1 of upper supporting piece, three 2-3-1 of upper supporting piece, four 2-4-1 of upper supporting piece, five 3-1-1 of upper supporting piece and rotation
Axle sleeve 2D, three 2-3-2 of lower support element, four 2-4-2 of lower support element, five 3-1-2 of lower support element are mounted on one 3-2-1 of support element
With encoder 2B is installed on two 3-2-2 of rotary support member, encoder 2B, lower support element are installed on one 2-1-1 of upper supporting piece
Axle sleeve 2D is installed on one 2-1-2；
Encoder 2B on two 2-2 of swinging joint, which is mounted on, to be arranged in the vertical mechanism on pedestal 1, vertical mechanism energy band
Two 2-2 of movable pendulum movable joint is moved up and down, and two 2-2-1 of upper supporting piece is connect with three 2-3-2 of lower support element, three 2-3-1 of upper supporting piece
Connect with four 2-4-2 of lower support element, four 2-4-2 of lower support element is connect with one 2-1-1 of upper supporting piece, four 2-4-1 of upper supporting piece with
End effector for telecentricity positioning clamping endoscope connects；
The side of one 2-1-2 of lower support element is equipped with five 3-1-2 of lower support element, and five 3-1-1 of upper supporting piece is supported with rotation
Two 3-2-2 connections of part.
In order to ensure that connection is reliable, it is conveniently operated use, in above-described embodiment, two 2-2-1 of upper supporting piece passes through connector sleeve
One 2-5 of cylinder is connect with three 2-3-2 of lower support element, and three 2-3-1 of upper supporting piece passes through two 2-6 of branch sleeve and four 2-4- of lower support element
2 connections, four 2-4-1 of upper supporting piece by three 2-10 of branch sleeve and revolute joint 2-7, one 3-2-1 of rotary support member for
The 3-5 connections of surgical instrument end effector.
Ensure that patient's lesion site tissue provides stable traction force to improve, improves and assist helping for clamping surgical instrument
Hand ability, the present invention provide the secondary side mechanical arm 4 being arranged symmetrically with side mechanical arm 3, side mechanical arm 3 and secondary side mechanical arm 4
Structure it is identical, side mechanical arm 3 and secondary side mechanical arm 4 are arranged symmetrically in the both sides of one 2-1-2 of lower support element.In intermediate mechanical
The left and right both sides of arm 2 are respectively arranged surgical instrument end effector 3-5, and side mechanical arm 3 and secondary side mechanical arm 4 devise
Rotary joint 3-2 and swinging joint five 3-1, surgical instrument end effector 3-5 are the end effector for pulling tissue, have 8
The flexible joint of a degree of freedom.To enable surgical instrument end effector 3-5 flexibly reach required surgery location or
Patient's lesions position provides stable traction force for operative site.It adjusts and is used for telecentricity positioning clamping in Chi Jing telecentricities mechanism
The relative position of the end effector and surgical instrument end effector 3-5 of endoscope, in Shi Chijing telecentricities mechanism for remote
The end effector of heart positioning clamping endoscope is located at the side of surgical instrument end effector 3-5, so as to meet difference
The operative incision of position.
In one embodiment, vertical mechanism is linear transmission mechanism, and linear transmission mechanism includes supporting rack 1-3-1 and electricity
Dynamic ball-screw group 1-3-2；The electric ball screw group 1-3-2 is arranged on pedestal 1, and supporting rack 1-3-1 is connected to electronic
On the screw of ball-screw group 1-3-2, the encoder 2B on two 2-2 of swinging joint is mounted on supporting rack 1-3-1.
In another embodiment, electric ball screw group 1-3-2 uses servo motor as power, servo motor and rolling
Ballscrew pair matches, and intermediate mechanical arm is reliable for operation, easy to use, easily controllable.In order to increase the stability of pedestal, just
It in movement, adapts to varying environment and uses, pedestal 1 includes column 1-2, pedestal 1-4 and four castor 1-1；Column 1-2 is mounted on bottom
On seat 1-4, linear transmission mechanism is mounted on column 1-2；There are four castor 1-1 for installation on the lower face of pedestal 1-4.
Preferably, one 2-1 of swinging joint, two 2-2 of swinging joint, three 2-3 of swinging joint, four 2-4 of swinging joint, swing are closed
It is electric lost brake to save the clutch 2A on five 3-1 and rotary joint 3-2, is powered and is attracted.Encoder 2B absolute encodings
Device.So design, output end and the transmission axis connection of clutch by the actuation of clutch, are detached from and realize that power is transmitted or cut
It is disconnected.Encoder reads each swinging joint rotational angle, feeds back to control system, to ensure that stablizing for various swinging joints is controlled
System realizes good operation clamping.
In one embodiment, the end effector for telecentricity positioning clamping endoscope includes revolute joint, symmetrical pass
Section and linear joint；Revolute joint includes turning motor 2-7-1, rotary parting and reunion device 2-7-2, output shaft 2-7-3 and shell 2-7-
4；
Turning motor 2-7-1, rotary parting and reunion device 2-7-2 and output shaft 2-7-3 are arranged in shell 2-7-4, turning motor
The output end of 2-7-1, which connects back to, leaves clutch 2-7-2, rotary parting and reunion device 2-7-2 connection output shafts 2-7-3；
Symmetrical joint includes first connecting rod 2-8-1, second connecting rod 2-8-2, third connecting rod 2-8-3, fourth link 2-
8-4, the 5th connecting rod 2-8-5, six-bar linkage 2-8-6, seven-link assembly 2-8-7, power drive assemblies 2-8-8, frames 2-8-
9, the linear guide 2-8-10 and third sliding block 2-8-11, the second sliding block 2-8-12 and the first sliding block 2-8-13；
One end of first connecting rod 2-8-1 mounted on frames 2-8-9 long side 2-8-9-1 on, and with electric drive group
Part 2-8-8 output shafts are connected, the length side of the central axis and long side 2-8-9-1 of the output shaft of power drive assemblies 2-8-8
To central axis setting, one end of the other end and second connecting rod 2-8-2 and third connecting rod 2-8-3 of first connecting rod 2-8-1
Hinged, the other end of second connecting rod 2-8-2 is fixed on after being hinged with one end of fourth link 2-8-4 on the first sliding block 2-8-13,
It is fixed on the second sliding block 2-8-12 after one end of the other end of third connecting rod 2-8-3 and the 5th connecting rod 2-8-5 are hinged, the 4th connects
It is connect with linear joint after the other end of bar 2-8-4 is hinged with the other end of the 5th connecting rod 2-8-5,
The equal length of second connecting rod 2-8-2, third connecting rod 2-8-3, fourth link 2-8-4 and the 5th connecting rod 2-8-5, it
Connect after form diamond shape, the diamond shape is with the center line symmetrical setting of the linear guide 2-8-10 length directions, six-bar linkage 2-
One end of 8-6 is hinged on the middle part of first connecting rod 2-8-1, one end of the other end and seven-link assembly 2-8-7 of six-bar linkage 2-8-6
It is fixed on third sliding block 2-8-11 after hinged, the other end of seven-link assembly 2-8-7 is hingedly arranged on linear joint, and the 6th connects
The equal length of bar 2-8-6 and seven-link assembly 2-8-7, and with the center line symmetrical setting of the linear guide 2-8-10 length directions；
Linear joint includes ontology 2-9-0, linear motor 2-9-4, ball screw assembly, 2-9-1, linear slider 2-9-2 and interior
Sight glass 2-9-3；Linear motor 2-9-4 and ball screw assembly, 2-9-1 is mounted on ontology 2-9-0, the output of linear motor 2-9-4
The leading screw of end connection ball screw assembly, 2-9-1, the leading screw of ball screw assembly, 2-9-1 are rotatably connected on ontology 2-9-0, and straight line is slided
Block 2-9-2 connects endoscope 2-9-3 on the screw of ball screw assembly, 2-9-1 on linear slider 2-9-2；Ontology 2-9-0
The lower part of the upper end face opposite with end face K is from top to bottom disposed with the first axis pin and the second axis pin, fourth link 2-8-4's
The other end and the second axis pin of the other end and the 5th connecting rod 2-8-5 are hinged, and the other end of seven-link assembly 2-8-7 and the first axis pin are cut with scissors
It connects；The central axis of the output shaft of turning motor 2-7-1 intersects at point C, point C with the center line of endoscope 2-9-3 length directions
For the incision site in operation.
In the present embodiment, 8 connecting rods being arranged symmetrically on symmetrical joint 2-8 are to be set using the pitching of parallelogram sturcutre
Count structure.So design can so that linear joint 2-9 is complete under the driving using the joint motor of planet-gear speed reducing motor
At the pitching movement of endoscope 2-9-3, linear joint 2-9 is connected on 8 connecting rods being arranged symmetrically, can be in 8 be arranged symmetrically
The stretching motion of its own is carried out at the same time when the movement of a rod piece, the central axis of the output shaft of turning motor 2-7-2 is peeped with interior
The center line of mirror length direction intersects at point C, and point C is fixed point, using second connecting rod, third connecting rod, fourth link and the 5th
Connecting rod forms novel symmetrical diamond structure, diamond structure with the center line symmetrical setting of first straight line guide rail, diamond structure
One tie point is hingedly arranged with first connecting rod, another tie point and end extrusome of diamond structure are hinged, diamond structure
Two intermediate connection points be separately fixed on the first sliding block and the second sliding block being arranged on first straight line guide rail, first connecting rod
With the output axis connection of the second retarder, one end of six-bar linkage with it is hinged in the middle part of first connecting rod, the other end of six-bar linkage with
It being fixed on third sliding block after one end of seven-link assembly is hinged, the other end and the end extrusome of seven-link assembly are hingedly arranged, the
Six-bar linkage and seven-link assembly are with the center line symmetrical setting in first straight line rail length direction, under the drive of the second retarder,
When first connecting rod moves clockwise, due to the symmetry of first connecting rod and the movement of end extrusome so that end is flexible
Body is rotated in an anti-clockwise direction using C points as coordinate origin around y-axis；When first connecting rod does counterclockwise movement, due to the first company
The symmetry of bar and the movement of end extrusome so that end extrusome is done as coordinate origin around y-axis using C points to be turned clockwise
It is dynamic.And the present invention can do direction pivots clockwise or counter-clockwise rotation under the drive of the first retarder around x-axis, to real
Now around the rotation of the x-axis and y-axis of fixed point C, so, structure of the invention is simple, and stability is good, safe, and light weight,
Power will not be acted to notch.First connecting rod 2-8-1, second connecting rod 2-8-2, third connecting rod 2-8-3, fourth link 2-8-4
Slot hole is both provided with along its respective length direction so that symmetrical joint motions are flexible with the 5th connecting rod 2-8-5.
Preferably, power drive assemblies 2-8-8 includes joint motor, joint clutch and joint output shaft；Joint motor
Output end connecting joint output shaft, be disposed between joint motor and joint output shaft with both the joint clutch that connect；
One end of first connecting rod 2-8-1 exports axis connection with joint.Rotary parting and reunion device 2-7-2 and joint clutch are power-off suction type
Electromagnetic clutch.The joint clutch on rotary parting and reunion device 2-7-2 and symmetrical joint 2-8 on revolute joint 2-7 is that power-off is inhaled
Box-like electromagnetic clutch, encoder 2B are absolute encoder.The output end of various clutches and corresponding transmission axis connection, pass through
The actuation of clutch is detached from and realizes that power is transmitted or cut off.The rotary parting and reunion device 2-7-2 being located at turn around on the 2-7 of joint, electromagnetism from
Clutch power-off is detached from, and cuts off power, and revolute joint 2-7 is in passive state, and the supporting frame 2-8-9 of L-type can be in doctor's hand
It is dynamic to rotate by operation, realize the first successive step of telecentricity mechanism pose；Subsequent electromagnetic clutch, which is powered, to be attracted, at revolute joint 2-7
In active state, turning motor 2-7-1 uses planet-gear speed reducing motor, and output shaft 2-7- is driven under the action of pulse current
3, the supporting frame 2-8-9 of L-type realizes the beat movement of telecentricity mechanism, and subsequent electromagnetic clutch, which remains powered on state, makes L-type
Supporting frame 2-8-9 lockings；Positioned at two 2-2 of swinging joint, one 2- of three 2-3 of swinging joint, four 2-4 of swinging joint and swinging joint
Clutch 2A on 1（Electromagnetic clutch）When being in disengaged condition when energization, robot linkage is rotated, is driven in each swinging joint
Support element, axle sleeve rotate under bearing support, and can read rotational angle by encoder, feed back to control system.When fixed
After the completion of position, under off-position, clutch 2A（Electromagnetic clutch）In locking state, to make two 2-2 of swinging joint, swing
Three 2-3 of joint, four 2-4 of swinging joint and one 2-1 of swinging joint are reliably locked.
In addition, in order to ensure the work well of robot, the bar that is connected on the output shaft 2-7-3 on revolute joint 2-7
Part be L-shaped supporting frame 2-8-9, thereon on have a hole.So design can make returning using planet-gear speed reducing motor
Rotating motor 2-7-1 drives the supporting frame 2-8-2 of output shaft 2-7-3, L-type to realize telecentricity mechanism under the action of pulse current
Beat moves.Swinging joint, rotary joint and branch sleeve are equipped with routing hole, so design, electric wire can be made all to contain
Get up, the operation of doctor will not be influenced in the course of surgery.There is a fixed point C to be located at turn around joint on the endoscope 2-9-3
On straight line residing for 2-7 output shafts 2-7-3, and the joint of fixed point C and revolute joint 2-7 output shafts 2-7-3 and symmetrical joint 2-8
The intersection point of output shaft extension line is symmetrical about guide rail 2-8-10.So design, doctor manipulate endoscope 2-9-3 with certain posture into
When entering patient's body, this fixed point can be made to coincide with patient incision position, prevent in surgical procedure endoscope 2-9-3 to operation
Notch damages.Revolute joint drives to realize that " beat " around notch is moved using axis.
The course of work：Illustrate referring to Fig. 1-Figure 14, after the power supply of entire robot, servo motor drives articular branches support member 2-
1-1 is moved on ball-screw 1-3, to drive whole manipulator motion, completes mechanical arm in vertical direction Primary Location mistake
Journey.Clutch 2A in two 2-2 of swinging joint, one 2-1 of three 2-3 of swinging joint, four 2-4 of swinging joint and swinging joint is powered,
Doctor drags intermediate mechanical arm 2 and realizes positioning in the horizontal direction, then adjusts the position of each swinging joint, drives intermediate machine
Tool arm 2 is realized to be positioned in position both vertically as well as horizontally, to make the endoscope 2-9-3 of telecentricity mechanism reach the notch of operation
Location parameter is returned to control system by near sites, encoder 2-2-3.Then clutch 2A is made to be in off-position by intermediate machine
The position of tool arm 2 is locked.It is locked, is performed the operation after regulating the position of side mechanical arm 3 and secondary side mechanical arm 4 in the same manner
Instrument end effector 3-5 provides stable traction force for operative site, the rotary parting and reunion device 2-7- being located at turn around on the 2-7 of joint
2 power-off are detached from, and cut off power, and revolute joint 2-7 is in passive state, and the supporting frame 2-8-9 of L-type is in the case where doctor is manually operated
The rough adjustment of telecentricity mechanism pose is realized in rotation；Subsequent electromagnetic clutch, which is powered, to be attracted, and revolute joint 2-7 has the initiative shape
State drives under the action of pulse current using the turning motor 2-7-1 of planet-gear speed reducing motor output shaft 2-7-3, L-type
Supporting frame 2-8-9 realizes that the beat movement of telecentricity mechanism, the position of intense adjustment endoscope, subsequent electromagnetic clutch keep logical
Electricity condition makes the supporting frame 2-8-9 lockings of L-type；Under the action of the motor group 2-8-1 of symmetrical joint 2-8 on it, pass through position
The movement of symmetrical 8 connecting rods is set so that the endoscope 2-9-3 on straight-line mechanism 2-9 is accurately aimed at rapidly trouble by adjusting pose
The lesions position of person.
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 (8)
1. a kind of robot for assisting splanchnocoel Minimally Invasive Surgery, it is characterised in that：It includes pedestal（1）, intermediate mechanical arm
（2）With side mechanical arm（3）；
The intermediate mechanical arm（2）End effector including positioning joint and for endoscope to be clamped；
The positioning joint includes swinging joint one（2-1）, swinging joint two（2-2）, swinging joint three（2-3）And swinging joint
Four（2-4）；
The swinging joint two（2-2）Including upper supporting piece two（2-2-1）Swinging mechanism is surveyed with locking；
The swinging joint three（2-3）Including upper supporting piece three（2-3-1）, lower support element three（2-3-2）Swinging mechanism is surveyed with locking；
The swinging joint four（2-4）Including upper supporting piece four（2-4-1）, lower support element four（2-4-2）Swinging mechanism is surveyed with locking；
The swinging joint one（2-1）Including upper supporting piece one（2-1-1）, lower support element one（2-1-2）Swinging mechanism is surveyed with locking；
The side mechanical arm（3）Including swinging joint five（3-1）And rotary joint（3-2）；
The swinging joint five（3-1）Including upper supporting piece five（3-1-1）, lower support element five（3-1-2）Swinging mechanism is surveyed with locking；
The rotary joint（3-2）Including rotary support member one（3-2-1）, rotary support member two（3-2-2）Swinging mechanism is surveyed with locking；
It includes clutch that swinging mechanism is surveyed in all lockings（2A）, encoder（2B）, rotation axis（2C）And axle sleeve（2D）；
Rotation axis（2C）On clutch is installed（2A）, encoder（2B）And axle sleeve（2D）, rotation axis（2C）By bearing with from
Clutch（2A）Connection, swinging joint one（2-1）, swinging joint two（2-2）, swinging joint three（2-3）With swinging joint four（2-4）
Rotation axis be vertically arranged in parallel；
Upper supporting piece two（2-2-1）, upper supporting piece three（2-3-1）, upper supporting piece four（2-4-1）, upper supporting piece five（3-1-1）With
Rotary support member one（3-2-1）On be mounted on axle sleeve（2D）, lower support element three（2-3-2）, lower support element four（2-4-2）, under
Support element five（3-1-2）With rotary support member two（3-2-2）On encoder is installed（2B）, upper supporting piece one（2-1-1）Upper peace
Equipped with encoder（2B）, lower support element one（2-1-2）On axle sleeve is installed（2D）；
Swinging joint two（2-2）On encoder（2B）Mounted on being arranged in pedestal（1）On vertical mechanism on, vertical mechanism energy
Drive swinging joint two（2-2）It moves up and down, upper supporting piece two（2-2-1）With lower support element three（2-3-2）Connection, upper supporting piece
Three（2-3-1）With lower support element four（2-4-2）Connection, lower support element four（2-4-2）With upper supporting piece one（2-1-1）Connection, on
Support element four（2-4-1）It is connect with the end effector for endoscope to be clamped；
Lower support element one（2-1-2）Side lower support element five is installed（3-1-2）, upper supporting piece five（3-1-1）With rotation branch
Support member two（3-2-2）Connection；
The robot further includes secondary side mechanical arm（4）, side mechanical arm（3）With secondary side mechanical arm（4）Structure it is identical, side
Mechanical arm（3）With secondary side mechanical arm（4）It is arranged symmetrically in lower support element one（2-1-2）Both sides；
End effector for endoscope to be clamped includes revolute joint, symmetrical joint and linear joint；
Revolute joint includes turning motor（2-7-1）, rotary parting and reunion device（2-7-2）, output shaft（2-7-3）And shell（2-7-4）；
Turning motor（2-7-1）, rotary parting and reunion device（2-7-2）And output shaft（2-7-3）It is arranged in shell（2-7-4）It is interior, revolution
Motor（2-7-1）Output end connect back to and leave clutch（2-7-2）, rotary parting and reunion device（2-7-2）Connect output shaft（2-7-3）；
Symmetrical joint includes first connecting rod（2-8-1）, second connecting rod（2-8-2）, third connecting rod（2-8-3）, fourth link（2-8-
4）, the 5th connecting rod（2-8-5）, six-bar linkage（2-8-6）, seven-link assembly（2-8-7）, power drive assemblies（2-8-8）, support machine
Frame（2-8-9）, the linear guide（2-8-10）With third sliding block（2-8-11）, the second sliding block（2-8-12）With the first sliding block（2-8-
13）；
First connecting rod（2-8-1）One end be mounted on frames（2-8-9）Long side（2-8-9-1）On, and and electric drive
Component（2-8-8）Output shaft is connected, power drive assemblies（2-8-8）Output shaft central axis and long side（2-8-9-1）
Length direction central axis setting, first connecting rod（2-8-1）The other end and second connecting rod（2-8-2）And third connecting rod
（2-8-3）One end it is hinged, second connecting rod（2-8-2）The other end and fourth link（2-8-4）One end it is hinged after be fixed on
First sliding block（2-8-13）On, third connecting rod（2-8-3）The other end and the 5th connecting rod（2-8-5）One end it is hinged after be fixed on
Second sliding block（2-8-12）On, fourth link（2-8-4）The other end and the 5th connecting rod（2-8-5）The other end it is hinged after with it is straight
Line joint connects；
Second connecting rod（2-8-2）, third connecting rod（2-8-3）, fourth link（2-8-4）With the 5th connecting rod（2-8-5）Length phase
Deng, they connect after form diamond shape, the diamond shape is with the linear guide（2-8-10）The center line symmetrical setting of length direction, the 6th
Connecting rod（2-8-6）One end be hinged on first connecting rod（2-8-1）Middle part, six-bar linkage（2-8-6）The other end and the 7th connect
Bar（2-8-7）One end it is hinged after be fixed on third sliding block（2-8-11）On, seven-link assembly（2-8-7）The other end be hingedly arranged
On linear joint, six-bar linkage（2-8-6）With seven-link assembly（2-8-7）Equal length, and with the linear guide（2-8-10）
The center line symmetrical setting of length direction；
Linear joint includes ontology（2-9-0）, linear motor（2-9-4）, ball screw assembly,（2-9-1）, linear slider（2-9-2）
And endoscope（2-9-3）；Linear motor（2-9-4）And ball screw assembly,（2-9-1）Mounted on ontology（2-9-0）On, straight-line electric
Machine（2-9-4）Output end connect ball screw assembly,（2-9-1）Leading screw, ball screw assembly,（2-9-1）Leading screw rotation connection
In ontology（2-9-0）On, linear slider（2-9-2）Mounted on ball screw assembly,（2-9-1）Screw on, linear slider（2-9-
2）Upper connection endoscope（2-9-3）；Ontology（2-9-0）The lower part of the upper end face opposite with end face K is from top to bottom disposed with
First axis pin and the second axis pin, the end face K are ontology（2-9-0）Upper installation linear motor（2-9-4）And ball screw assembly,（2-
9-1）End face；Fourth link（2-8-4）The other end and the 5th connecting rod（2-8-5）The other end and the second axis pin it is hinged, the
Seven-link assembly（2-8-7）The other end and the first axis pin it is hinged；Turning motor（2-7-1）Output shaft central axis and endoscope
（2-9-3）The center line of length direction intersects at point C, and point C is the incision site in operation.
2. a kind of robot for assisting splanchnocoel Minimally Invasive Surgery according to claim 1, it is characterised in that：It is described vertical
Mechanism is linear transmission mechanism, and the linear transmission mechanism includes supporting rack（1-3-1）With electric ball screw group（1-3-2）；
The electric ball screw group（1-3-2）It is arranged in pedestal（1）On, supporting rack（1-3-1）It is connected to electric ball screw group（1-
3-2）Screw on, swinging joint two（2-2）On encoder（2B）Mounted on supporting rack（1-3-1）On.
3. a kind of robot for assisting splanchnocoel Minimally Invasive Surgery according to claim 2, it is characterised in that：Electric ball
Leading screw group（1-3-2）It is driven using servo motor.
4. a kind of robot for assisting splanchnocoel Minimally Invasive Surgery according to claim 3, it is characterised in that：The pedestal
（1）Including column（1-2）, pedestal（1-4）With four castors（1-1）；Column（1-2）Mounted on pedestal（1-4）On, Linear transmission
Mechanism is mounted on column（1-2）On；Pedestal（1-4）Lower face on installation there are four castor（1-1）.
5. according to a kind of robot for assisting splanchnocoel Minimally Invasive Surgery of claim 1,2,3 or 4, it is characterised in that：
Swinging joint one（2-1）, swinging joint two（2-2）, swinging joint three（2-3）, swinging joint four（2-4）, swinging joint five（3-
1）And rotary joint（3-2）On clutch（2A）It is electric lost brake, is powered and is attracted.
6. a kind of robot for assisting splanchnocoel Minimally Invasive Surgery according to claim 5, it is characterised in that：Encoder
（2B）For absolute type encoder.
7. according to a kind of robot for assisting splanchnocoel Minimally Invasive Surgery of claim 1,2,3,4 or 6, feature exists
In：Power drive assemblies（2-8-8）Including joint motor, joint clutch and joint output shaft；The output end of joint motor connects
Joint output shaft is connect, the joint clutch being connect with the two is disposed between joint motor and joint output shaft；First connecting rod（2-
8-1）One end and joint export axis connection.
8. a kind of robot for assisting splanchnocoel Minimally Invasive Surgery according to claim 7, it is characterised in that：Rotary parting and reunion
Device（2-7-2）It is power-off suction type electromagnetic clutch with joint clutch.
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