CN111012504B - Rope-driven joint decoupling mechanism - Google Patents
Rope-driven joint decoupling mechanism Download PDFInfo
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- CN111012504B CN111012504B CN201911337888.7A CN201911337888A CN111012504B CN 111012504 B CN111012504 B CN 111012504B CN 201911337888 A CN201911337888 A CN 201911337888A CN 111012504 B CN111012504 B CN 111012504B
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- joint
- rod piece
- driving
- rope
- gear pair
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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
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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)
- 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)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a rope-driven joint decoupling mechanism which consists of two identical joints, wherein each joint is constrained by a pair of gear pairs, so that the rotation instant center of the joint is ensured to be in the middle position, and two driving ropes of each joint are symmetrical relative to the motion instant center of the joint. The two drive lines of the second joint remain stationary while the drive lines of the first joint are in motion. Because the angle change of the second joint driving rope passes through the first joint, the lengths of the two driving ropes of the second joint are inconsistent, at the moment, under the constraint that the length of the second joint driving rope is kept unchanged, the second joint moves reversely relative to the first joint, the movement angle is consistent with that of the first joint, namely, the subsequent joint driving rope length change caused by the angle change of the second joint is compensated by the movement of the second joint, and in the same way, the length of the subsequent joint driving rope of the rope driving decoupling mechanism is not influenced by the movement of the two joints, so that the decoupling effect is achieved.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a rope-driven joint decoupling mechanism.
Background
The operation accuracy and flexibility of the endoscopic surgical robot are commonly applied to minimally invasive operations such as urology surgery, thoracic surgery and general surgery. In order to meet the requirements of space compactness and driving flexibility of the tail end of the robot at the same time, the robot generally adopts a rope driving mode, a driving part with huge and heavy volume is arranged outside the body, and a exquisite tail end structure in the body is driven by the rope. However, the inherent coupling characteristics of the rope-driven tandem joint, i.e., the movement of the preceding joint, can result in a change in the length of the rope driven by the following joint, thereby affecting the movement of the following joint, resulting in poor accuracy of movement control of the rope-driven surgical robot.
Disclosure of Invention
The invention aims to provide a rope-driven joint decoupling mechanism which can effectively solve the coupling problem of rope-driven serial joints and improve the motion control precision of a rope-driven surgical robot.
In order to achieve the above object, the present invention provides the following solutions: the invention provides a rope-driven joint decoupling mechanism which comprises a joint I and a joint II which are identical in structure and connected in series, wherein the joint I comprises a rod piece I, a rod piece II, a hinge piece I and a gear pair I, the rod piece I and the rod piece II with the same diameter are connected through the hinge piece I, and the connecting ends of the rod piece I and the rod piece II are respectively connected with two meshing gears of the gear pair I through a shaft I and a shaft II;
the joint II comprises a rod piece III, a rod piece IV, a hinge piece II and a gear pair II, wherein the rod piece III and the rod piece IV with the same diameter are connected through the hinge piece II, and the connecting ends of the rod piece III and the rod piece IV are respectively connected with two meshing gears of the gear pair II through a shaft III and a shaft IV;
the two driving ropes of the first joint and the second joint are symmetrically arranged on the outer sides of the gear pair II and the gear pair I respectively, the tail ends of the two driving ropes are fixed at the tail end of the rod piece II, and the other ends of the two driving ropes are connected with the driving motor of the first joint; the ends of the two driving ropes of the second joint are fixed at the four ends of the rod piece, and the other ends of the two driving ropes are connected with the driving motor of the second joint.
Preferably, the first rod, the second rod, the third rod and the fourth rod have the same dimensions except that the lengths of the first rod, the second rod, the third rod and the fourth rod are variable.
Preferably, the gears meshed with the first gear pair and the second gear pair comprise a limiting block and gears which are integrally arranged, the gears are used for mutually meshed transmission, and the limiting block is located in a limiting groove on the rod piece and used for limiting rotation of the gear pair.
Preferably, the first joint is close to the driving end, each joint is restrained by a pair of gear pairs, and the two driving ropes of each joint are symmetrical relative to the instantaneous center of movement of the joint.
Preferably, when the driving rope of the first joint moves, the driving rope of the second joint passes through the first joint, the two driving ropes of the second joint are inconsistent in length at the position, the second joint moves reversely relative to the first joint under the constraint of keeping the length of the driving rope of the second joint unchanged, and the movement angle of the second joint is consistent with that of the first joint.
Compared with the prior art, the invention has the following technical effects:
the rope-driven joint decoupling mechanism disclosed by the invention is based on the principle of constant rope length, does not need to simultaneously arrange a complex gear pair and a pulley pair, can ensure that the driving rope of the subsequent joint is not influenced by the joint motion state when passing through the joint, always keeps the rope length unchanged, and achieves the effect of decoupling the rope-driven serial joints.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an overall schematic diagram of a rope-driven joint decoupling mechanism;
FIG. 2 is a diagram of decoupling mechanism components;
FIG. 3 is a block diagram of a joint;
FIG. 4 is a stowed state diagram of the rope driven articulation decoupling mechanism;
FIG. 5 is an expanded state diagram;
FIG. 6 is a rope driven decoupling mechanism of a single axis rotary joint;
wherein, joint 1; 11 bar one; 12 hinge one; 13 bar members II; 14 axis one; 15 shafts II; a first joint driving rope I; 17 a first joint driving rope II; 2, joint II; 21 bar members three; 22 second hinge; 23 bar members IV; 24 axes three; 25 axes IV; a second joint driving rope I; 27, a second joint driving rope; 3, a gear pair; 41 a subsequent joint driving rope I; 42 subsequent articulation drive cords two.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a rope-driven joint decoupling mechanism which can effectively solve the coupling problem of rope-driven serial joints and improve the motion control precision of a rope-driven surgical robot.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1-6, the present invention provides a rope driven joint decoupling mechanism, which is composed of two identical joints, wherein a joint 1 comprises a rod member 11, a shaft 14, a hinge member 12, a shaft 15, a rod member 13, and a joint 2 comprises a rod member three 21, a shaft three 24, a hinge member two 22, a shaft four 25, a rod member four 23, and a joint 1 and a joint two 2 are arranged in series, wherein the joint 1 is at a proximal driving end. The two shafts of each joint are restrained by a pair of gear pairs 3, so that the rotation instant center of the joint is kept at the middle position of the connecting line of the two shafts. Each joint adopts two driving ropes which are symmetrically arranged relative to the axial center line and drives the joint in a pull-pull mode. The ends of the two driving ropes of the joint I1 are fixed at the tail end of the rod piece II 13, the other end of the driving rope is connected with the driving motor of the joint I, the ends of the two driving ropes of the joint II 2 are fixed at the tail end of the rod piece IV 23, and the other end of the driving rope is connected with the driving motor of the joint II.
When the first joint 1 moves, the second joint 2 motor is kept still, so that the lengths of the first joint driving rope 26 and the second joint driving rope 27 are kept unchanged. Assuming that joint one 1 rotates to the right, since the driving rope of joint two 2 passes through joint one 1, at this time joint two driving rope 26 becomes longer at joint one 1, and joint two driving rope 27 becomes shorter at joint one 1. Because the total length of the joint two driving ropes 26 and 27 is kept unchanged, the length of the joint two driving rope 26 at the joint two 2 is shortened, the length of the joint two driving rope 27 at the joint two 2 is prolonged, and the change amplitude is equal to that of the joint one 1, namely the change of the length of the joint two driving ropes caused by the active movement of the joint one 1 is compensated by the passive movement of the joint two 2. If the subsequent joints are arranged in series behind the two joints, the length of the portion of the first joint driving rope 41 and the second joint driving rope 42 passing through the first joint 1 and the second joint 2 is changed to zero, that is, the motion of the two joints does not affect the subsequent joints, so that the decoupling effect is achieved.
The structure of the joint 1 is shown in fig. 3, and the arrangement of the driving ropes of each joint is clearly shown. The structure of the joint II 2 is the same as that of the joint I1, and the tail end of the driving rope of the joint I is fixedly connected to the tail end of the rod piece II 13, so that the driving rope does not pass through the joint II 2 any more, only a channel is reserved at the driving rope of the joint I of the joint II 2, and the driving rope is not provided with a rope structure any more.
The rope-driven joint decoupling mechanism consists of two identical joints, each joint is constrained by a pair of gear pairs 3, the rotation instant center of the joint is ensured to be in the middle position, and the two driving ropes of each joint are symmetrical relative to the motion instant center of the joint. The two drive lines of the second joint remain stationary while the drive lines of the first joint are in motion. Because the angle change of the joint II driving rope passes through the joint I1, the two driving ropes of the joint II 2 are inconsistent in length at the joint I1, at the moment, the joint II 2 moves reversely relative to the joint I1 under the constraint that the length of the joint II driving rope is kept unchanged, the movement angle is consistent with the joint I1, namely, the subsequent joint driving rope length change caused by the angle change of the joint I1 is compensated by the movement of the joint II 2, and in the same way, the length of the subsequent joint driving rope of the rope driving decoupling mechanism is not influenced by the movement of the two joints, so that the decoupling effect is achieved.
Fig. 4 shows an example of application of the rope-driven joint decoupling mechanism in a single-hole endoscopic surgical robot. The two operation arms of the operation robot are composed of shoulder joints, elbow joints, wrist joints and tail end instruments, wherein the shoulder joints and the elbow joints adopt the rope drive decoupling mechanism provided by the patent, and drive ropes of the wrist joints and the tail end instruments pass through the shoulder elbow joints. When the robot passes through the skin entrance of the human body, the operation arms are in a retracted state, and when the robot enters the human body cavity and reaches the target operation area, the shoulder joint and the elbow joint are controlled to form an operation triangle configuration respectively, and in the preparation process, the decoupling mechanism formed by the shoulder joint and the elbow joint does not play a role because the elbow joint motor is not locked. After the triangle configuration is adjusted, the wrist joint and the tail end instrument are also adjusted to the target posture and enter the operation state. In the operating state, the elbow joint motor is locked, and the decoupling mechanism formed by the shoulder elbow joint starts to act. At this time, according to the real-time operation requirement, the shoulder and elbow synchronous abduction and adduction actions of the humanoid robot can be realized, as shown in fig. 5, and meanwhile, the positions of the wrist joint and the tail end instrument are not affected by the movement of the shoulder and elbow joint, so that the operation accuracy of the robot is improved.
The invention provides a rope-driven joint decoupling mechanism for an endoscopic surgical robot, which has the following advantages:
1. the double-joint arrangement is adopted, the driving state of the subsequent joint is not influenced by the previous joint based on the principle of constant rope length, and complex gear pairs and pulley pairs are not required to be arranged at the same time.
2. The joint is restrained by a gear pair, so that the rotation instant center of the joint is ensured to be at the middle position.
3. The proposed dual-joint mechanism, each joint being actively movable, has a decoupling feature only when the second joint is locked.
4. The proposed dual joint mechanism may also be implemented with a single rotational joint per joint, as shown in fig. 6, without affecting the decoupling characteristics of the mechanism.
5. When the invention is applied to the shoulder and elbow joints of the Shan Kongqiang mirror surgical robot, the shoulder and elbow synchronous abduction and adduction actions of the humanoid can be realized, the positions of the wrist joints and the tail end instruments which are arranged subsequently are not influenced by the movement of the shoulder and elbow joints, and the operation accuracy of the robot is improved.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (3)
1. The utility model provides a rope drive joint decoupling zero mechanism which characterized in that: the device comprises a first joint and a second joint which are identical in structure and connected in series, wherein the first joint comprises a first rod piece, a second rod piece, a first hinge piece and a first gear pair, the first rod piece and the second rod piece which are identical in diameter are connected through the first hinge piece, and the connecting ends of the first rod piece and the second rod piece are respectively connected with two meshing gears of the first gear pair through a first shaft and a second shaft;
the joint II comprises a rod piece III, a rod piece IV, a hinge piece II and a gear pair II, wherein the rod piece III and the rod piece IV with the same diameter are connected through the hinge piece II, and the connecting ends of the rod piece III and the rod piece IV are respectively connected with two meshing gears of the gear pair II through a shaft III and a shaft IV;
the two driving ropes of the first joint and the second joint are symmetrically arranged on the outer sides of the gear pair II and the gear pair I respectively, the tail ends of the two driving ropes are fixed at the tail end of the rod piece II, and the other ends of the two driving ropes are connected with the driving motor of the first joint; the tail ends of the two driving ropes of the second joint are fixed at the four tail ends of the rod piece, and the other ends of the two driving ropes are connected with a driving motor of the second joint; the first joint is close to the driving end, each joint is restrained by a pair of gear pairs, and two driving ropes of each joint are symmetrical relative to the instantaneous center of joint movement;
the gears meshed with the first gear pair and the second gear pair comprise a limiting block and gears which are integrally arranged, the gears are used for mutually meshed transmission, and the limiting block is positioned in a limiting groove on the rod piece and used for limiting the rotation of the gear pair; the joint two-drive motor can be locked.
2. The rope-driven joint decoupling mechanism of claim 1, wherein: the first rod piece, the second rod piece, the third rod piece and the fourth rod piece are identical in size except for the fact that the length of the first rod piece, the length of the second rod piece, the length of the third rod piece and the length of the fourth rod piece are variable.
3. The rope-driven joint decoupling mechanism of claim 1, wherein: when the driving rope of the first joint moves, the driving rope of the second joint passes through the first joint, the two driving ropes of the second joint are inconsistent in length at the position, the second joint moves reversely relative to the first joint under the constraint of keeping the length of the driving rope of the second joint unchanged, and the movement angle of the second joint is consistent with that of the first joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911337888.7A CN111012504B (en) | 2019-12-23 | 2019-12-23 | Rope-driven joint decoupling mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911337888.7A CN111012504B (en) | 2019-12-23 | 2019-12-23 | Rope-driven joint decoupling mechanism |
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| CN111012504A CN111012504A (en) | 2020-04-17 |
| CN111012504B true CN111012504B (en) | 2023-09-15 |
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| CN201911337888.7A Active CN111012504B (en) | 2019-12-23 | 2019-12-23 | Rope-driven joint decoupling mechanism |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112168239B (en) * | 2020-09-22 | 2022-03-01 | 武汉联影智融医疗科技有限公司 | Multi-joint motion decoupling control assembly, distal end actuating mechanism and surgical instrument |
| CN112545653B (en) * | 2020-12-04 | 2022-04-19 | 哈尔滨工业大学 | Unfolding mechanism of single-hole operation mechanical arm |
| CN116277137B (en) * | 2023-05-23 | 2023-08-18 | 艺柏湾医疗科技(上海)有限公司 | Robot joint structure |
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