CN100336640C - Secondary manipulator of surgery operation robot - Google Patents

Secondary manipulator of surgery operation robot Download PDF

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Publication number
CN100336640C
CN100336640C CNB2005100131719A CN200510013171A CN100336640C CN 100336640 C CN100336640 C CN 100336640C CN B2005100131719 A CNB2005100131719 A CN B2005100131719A CN 200510013171 A CN200510013171 A CN 200510013171A CN 100336640 C CN100336640 C CN 100336640C
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CN
China
Prior art keywords
motor
arm
vertical
bearing
shaft
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CNB2005100131719A
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Chinese (zh)
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CN1654174A (en
Inventor
王树新
李群智
丁杰男
贠今天
刘治平
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天津大学
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Priority to CNB2005100131719A priority Critical patent/CN100336640C/en
Publication of CN1654174A publication Critical patent/CN1654174A/en
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Publication of CN100336640C publication Critical patent/CN100336640C/en

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Abstract

The present invention discloses a slave operation hand of a surgical operation robot. The most significant end of the slave operation hand is orderly provided with fingers, a finger circular arc motion joint mechanism for fixing the fingers, an arc-shaped guideway rotary joint mechanism, a straight-line motion joint mechanism of a sloping guideway, a first lower arm rotary joint mechanism, a second lower arm rotary joint mechanism, an upper arm rotary joint mechanism, a position adjustment mechanism in a vertical direction and a synchronous tooth-shaped belt wheel mechanism. The present invention is mainly applied to surgical operation, such as micro wound surgery, ophthalmology, orthopaedics, etc., particularly is applied to working, such as blood vessel suture in a microsurgical operation. The slave operation hand of a surgical operation robot of the present invention can replace a major operation doctor so as to complete complex surgical operation, such as blood vessel stripping, suture, shearing, etc.

Description

Secondary manipulator of surgery operation robot
Technical field
The present invention relates to a kind of Medical Devices, relate in particular to the parts of used Medical Devices in a kind of microsurgery.
Background technology
Phase early 1990s, the development of medical surgery robot has obtained tremendous development, and a collection of achievement in research is in the news in succession.The medical surgery robot compares with the mankind, robot have accurate positioning, stable, dexterity is strong, working range greatly, advantage such as Keep away from radioactive and infection not.The medical surgery robot not only can assist a physician and finish the accurate location of operative site, the feedback of the vibration of solution surgeon hand, fatigue, muscle nerve, and can realize the minimal damage of performing the operation, improve the precision and the quality of medical diagnosis on disease, operative treatment, increase the operation safety coefficient, shorten treatment time, reduce medical treatment cost.
At present, the medical surgery operating robot generally adopts principal and subordinate's remote operation mode, and master-slave mode medical surgery operating robot is a important branch the medical surgery robot research from operator, and especially multi-functional medical robotic system has become a new direction of medical robot development.
Up to now, Leonardo da Vinci system and the Zeus system that has obtained U.S. FDA authentication is the micro-wound surgical operation canonical system.At the microsurgery robot system aspects, Tokyo Univ Japan has realized remote operation by the internet net, and has implemented the experiment of 1mm vascular suture beyond 700km, but this system can not the esthesis feedback information in doctor's operating process.The medical robot of domestic independent research mainly is at the surgery location, as the cranial surgery placed machine robot system of BJ University of Aeronautics ﹠ Astronautics and Navy General Hospital joint development.In addition, at aspects such as medical endoscopes, robot system also obtains certain achievement.But in these achievements, robot system all can not realize the complicated operation operation, as sewing up and knotting.
Summary of the invention
In order to overcome deficiency of the prior art, technical problem to be solved by this invention provides a kind of secondary manipulator of surgery operation robot, adopt plane one joint type structure, have 8+1 the free degree, coarse adjustment mechanism comprises two frees degree, the moving both vertically and the manual adjustment joint motions of horizontal direction of vertical direction; Fine-tuning mechanism then is 6+1 the free degree, realizes position adjustment for three, realizes the attitude adjustment, adds an open and close movement for three.The realization of fine-tuning mechanism is finished by double-four link mechanism, and attitude remains unchanged when being used to guarantee the change in location of robot.Double-four link mechanism adopts the novel silk kind of drive, has promptly simplified volume, has alleviated weight again, has also satisfied little, the lightweight characteristics of medical robot volume.
In order to solve the problems of the technologies described above, purpose of the present invention can realize by following technical scheme:
A kind of secondary manipulator of surgery operation robot, be provided with finger foremost, be disposed with finger circular motion articulation mechanism, the arc-shaped guide rail rotary joint mechanism of fixed finger, rectilinear motion articulation mechanism, the first forearm rotary joint mechanism, the second forearm rotary joint mechanism, big arm rotary joint mechanism, vertical direction position adjusting mechanism and the timing belt wheel mechanism of slant rail;
The lock ring of first motor and holding finger is arranged on first gripper shoe in the described finger circular motion articulation mechanism, described first gripper shoe is connected with the slide block of arc-shaped guide rail, the guide rail of described arc-shaped guide rail is connected with the arc-shaped guide rail support by the tooth fan, described first motor shaft is provided with pinion, described pinion and the engagement of tooth fan;
The power sensor is fixedly set between described arc-shaped guide rail support and the rotation power transmission shaft in the described arc-shaped guide rail rotary joint mechanism, described rotation power transmission shaft passes axis of rotation bearing and is connected with the axle of second motor with rotation shaft joint slide block by the rotation shaft joint, described second motor is connected with axis of rotation bearing by the spinning motor support, described axis of rotation bearing is fixed on the oblique slide unit, described rotation power transmission shaft outer cover is equipped with spacer, the end is set with bearing, and described axis of rotation bearing is fixed with the rotation bearing cap;
The rectilinear motion articulation mechanism of described slant rail is made up of the 3rd motor, oblique slide unit and oblique slide unit support;
First forearm, one end is connected with oblique slide unit support by the first arm front rotary shaft in the described first forearm rotary joint mechanism, the described first forearm other end by the first arm after rotating shaft be connected with transition frame, the two ends of rotating shaft are provided with bearing behind the first arm front rotary shaft and the first arm, the 4th motor is arranged on the transition frame, be respectively arranged with wire wheel in the rotating shaft behind described the first arm front rotary shaft and the first arm, described two wire wheels are connected by steel wire;
In the described second forearm rotary joint mechanism second forearm, one end by second arm after rotating shaft be connected with big arm, the described second forearm other end is connected with transition frame by the second arm front rotary shaft, the two ends of rotating shaft all are equipped with bearing behind the described second arm front rotary shaft and second arm, be respectively arranged with wire wheel in the rotating shaft behind the described second arm front rotary shaft and second arm, described two wire wheels are connected by steel wire, second gripper shoe is fixed on the wire wheel, simply supported slab is provided with pillar, described pillar is a bolt, the top of described pillar withstands on second gripper shoe, and second gripper shoe and simply supported slab are used for the tensioning of steel wire;
In the described big arm rotary joint mechanism big arm by big arm after rotating shaft be connected with big arm support, described positioning disk is connected with arm support greatly, described positioning disk is provided with bearing pin, described big arm is provided with the 5th motor;
The 6th motor is fixed on the vertical support frame in the described vertical direction position adjusting mechanism, described vertical support frame is fixed on the vertical base plate, described the 6th motor is by vertical shaft joint, vertical slipper is connected with vertical turn-screw, described vertical turn-screw both ends are set with bearing and pass the vertical axis bearing, described vertical axis bearing is fixed on the vertical base plate, described vertical axis bearing end is fixed with vertical bearing cap, described vertical base plate is connected with the vertical guide rail plate by guide rail slide block and guide rail, vertical transmission nut is fixed on the vertical guide rail plate by vertical adjusting pad, vertical turn-screw is by vertical transmission nut, and it moves both vertically and realizes with screw thread transmission between the vertical turn-screw by the vertical transmission nut that is installed on the vertical guide rail plate;
Described timing belt wheel mechanism is made up of the first flute profile belt wheel, the second flute profile belt wheel, the 3rd flute profile belt wheel and the 4th flute profile belt wheel and regulating wheel, the described first flute profile belt wheel is arranged on behind the first arm in the rotating shaft, described the 4th flute profile belt wheel is arranged on the 4th motor output shaft, the described second flute profile belt wheel is arranged on behind second arm in the rotating shaft, described the 3rd flute profile belt wheel is arranged on the 5th motor output shaft, described big arm bottom is provided with base plate, described base plate is provided with groove, and described regulating wheel is fixed in the base plate groove by the little axle in it.
Described first motor or second motor or the 3rd motor or the 7th motor or the 8th motor are stepper motor, and described the 4th motor or the 5th motor or the 6th motor are servomotor.The length of groove is 30mm-50mm on the described base plate.Behind described the first arm front rotary shaft or the first arm behind rotating shaft or the second arm front rotary shaft or second arm rotating shaft by bearing, rotating shaft lid and circlip for shaft axial restraint.Described the 3rd flute profile belt wheel or the 4th flute profile belt wheel are connected with the motor output shaft key.Described the 3rd flute profile belt wheel or the 4th flute profile belt wheel are connected with the motor output shaft pin.Described little axle is provided with bearing and sleeve, and described little shaft end is provided with nut.Described positioning disk is connected with big arm by junction of the edges of two sheets of paper screw.
Finger of the present invention, comprise the body that constitutes by outer sleeve and inner sleeve, be arranged on the 7th motor in the body inner sleeve tail end, be arranged on the 8th motor of body outer sleeve tail end, and be arranged on first stop on the body outer sleeve, described the 8th motor output end is provided with by the second active flange that sets gradually, drive block, be fixed on the inner baffle ring in the body inner sleeve tail end outside, and the outer baffle ring that is locked in the body inner sleeve front end outside, the apparatus rotating mechanism that second steel ball between inner baffle ring and body outer sleeve and the 3rd steel ball between outer baffle ring and body outer sleeve of gathering constituted gathers; Be provided with boss in the described body inner sleeve, block the stay pipe that stretches out by the inner sleeve front end; The output of described the 7th motor be provided with by in stay pipe, set gradually first initiatively flange, torsionspring, first steel ball, driven pipe, screw rod, second bearing pin, be socketed in the back-up block on second bearing pin, and first bearing pin, overcoat be fixed on the stay pipe in cover be fixed in the device opening and closing mechanism that bearing and inner screw sheath constituted on the driven pipe; The tail end of described the 7th motor is provided with spacer sleeve; Described inner screw sheath is provided with groove, and first bearing pin and second bearing pin pass groove and be fixed on the stay pipe; Described stay pipe front end is provided with the apparatus quick-changing mechanism of transmission blade of a sword structure, it is made of the compression spring, support column, the finger tip replacing instrument that are against on the back-up block that set gradually, and described finger tip replacing instrument is provided with the groove that is mutually 60~120 degree of two connections; The described second active flange is provided with second stop, and described finger tip replacing instrument is that pin is held or scalpel or operation tweezers or surgical scissors.
Secondary manipulator of surgery operation robot of the present invention compared with prior art has following beneficial effect:
1. this mechanism is an articulated type coordinate structure, has 8+1 the free degree, can finish various operation techniques, the operation light and flexible;
2. the application of double-four link mechanism, attitude remains unchanged when making the operating point change in location of robot, thus the frame for movement that has realized position and attitude is separated idol;
3. adopt two-stage silk drive mechanism, promptly reduced the volume in mechanism space, alleviated the weight of mechanism again;
4. adopt the approximately equalised structure of both arms length, made being optimized of operating space;
5. the ingenious design of strainer and wire wheel has solved line ball and tensioning problem that the silk transmission often occurs;
6. the initiatively application of joint timing belt transmission makes motor postposition, i.e. the terminal suffered moment of mitigation system can guarantee the precision of joint motions control again;
7. adopt the slant rail structure of adjustable angle, make robot more near the operative doctor operating attitude;
8. coarse adjustment and accurate adjustment are separated, and can locate fast by manual coarse adjustment; Fine-tuning mechanism makes system have the performance accuracy that carries out micrurgy;
9. adopt six-dimension force sensor to reflect the true power and the moment information at the tip of pointing really, thus the tissue that can help the doctor to experience to be touched or the truth of organ;
The design of serial end-of-arm tooling such as scalpel, operation scissors, operation tweezers etc. make from hand can finish incision, cut off, separate, essential surgical techniques such as hemostasis, knotting, stitching.
Description of drawings
Fig. 1 is the structural representation of secondary manipulator of surgery operation robot of the present invention;
Fig. 2 is a silk transmission mechanism schematic diagram of the present invention;
Fig. 3 is an attitude adjustment member structural representation of the present invention;
Fig. 4 is the partial enlarged drawing of arc-shaped guide rail of the present invention;
Fig. 5 is an attitude adjustment member A-A profile of the present invention;
Fig. 6 is the partial enlarged drawing of horizontal position adjustment part transition frame of the present invention;
Fig. 7 is a horizontal position adjustment part-structure schematic diagram of the present invention;
Fig. 8 is a upright position of the present invention adjustment member structural representation;
Fig. 9 is a upright position of the present invention adjustment member B-B profile;
Figure 10 is the structural representation of finger of the present invention;
Figure 11 a is the structural representation of one of finger finger tip replacing instrument of the present invention surgical scissors;
Figure 11 b is the structural representation of one of finger finger tip replacing instrument of the present invention operation tweezers;
Figure 11 c is the structural representation of one of finger finger tip replacing instrument of the present invention scalpel.
Reference numeral:
The 1-lock ring 2-first gripper shoe 3-arc-shaped guide rail 4-arc-shaped guide rail support
The 5-tooth fan 6-first motor 7-pinion 8-power sensor
9-rotation power transmission shaft 10-rotation bearing cap 11-axis of rotation bearing 12-spacer
13-rotation shaft coupling 14-rotation shaft coupling slide block 15-spinning motor support 16-second motor
The oblique slide unit support of oblique slide unit 18-the 3rd motor 19-of 17-20-wire wheel
Rotating shaft lid behind the 21-front rotary shaft lid 22-the first arm front rotary shaft 23-first forearm 24-
Rotating shaft behind the 25-second arm front rotary shaft 26-second forearm 27-transition frame 28-the first arm
Rotating shaft 32-rotating shaft lid behind the 29-first flute profile belt wheel 30-belt wheel back-up ring 31-second arm
The big arm 36-of the 33-second flute profile belt wheel 34-the 3rd flute profile belt wheel 35-positioning disk
The big arm support 39-of rotating shaft 38-base plate 40-regulating wheel behind the big arm of 37-
The vertical shaft joint of the 41-little axle 42-second gripper shoe 43-simply supported slab 44-
The vertical bearing cap of 45-vertical slipper 46-vertical support frame 47-vertical base plate 48-
The vertical turn-screw of the vertical adjusting pad 52-of the vertical transmission nut 51-of 49-vertical axis bearing 50-
53-vertical guide rail plate 60-finger 61-the 4th flute profile belt wheel 64-the 4th motor
65-the 5th motor 66-the 6th motor 71-first joint 72-second joint
73-the 3rd joint 74-the 4th joint 75-the 5th joint 101-finger tip is changed instrument
The 102-inner screw sheath 103-first bearing pin 104-support column 105-compresses spring
The driven pipe of 106-back-up block 107-screw rod 108-stay pipe 109-
110-torsionspring 111-first is flange 112-round nut 113-outer baffle ring initiatively
114-outer sleeve 115-inner sleeve 116-spacer sleeve 117-inner baffle ring
118-drive block 119-second is flange 120-counter flange 121-spring initiatively
122-spring housing 132-bearing 135-the 7th motor 138-the 8th motor
The 133-first steel ball 136-second steel ball 145-second bearing pin 142-first stop
The 143-second stop 146-the 3rd steel ball 131,134,137,139,140,141,144-screw
161-surgical scissors 162-scissors bearing pin 163-scissors quick change dop 164-scissors packing ring
165-scissors spring leaf 166,167-scissors screw 171-operation tweezers 172-tweezers bearing pin
173-tweezers quick change dop 174-tweezers packing ring 175-tweezers spring leaf 176,177-tweezers screw
181-scalpel 182-scalpel rivet 183-scalpel quick change dop
The specific embodiment
Below in conjunction with the drawings and specific embodiments secondary manipulator of surgery operation robot of the present invention is done to describe in further detail.
In Fig. 1,2, double-four link mechanism is realized by the silk transmission.Described double-four link mechanism comprises first joint 71, the second joint 72 that is connected second forearm and transition frame that connect the big arm and second forearm, be connected the 4th motor 64 and transition frame the 3rd joint 73, be connected the transition frame and first forearm the 4th joint 74, be connected the 5th joint 75 of first forearm and oblique slide unit support.
In Fig. 3,4,5, the finger circular motion articulation mechanism of attitude adjustment member is an initiatively joint, and the motion in joint is that first motor 6 that the step-by-step movement by voltage-type drives arc-shaped guide rail provides, and realizes by pinion and rack.First motor 6 is installed on the gripper shoe 2 with the lock ring 1 of holding finger, and gripper shoe 2 is fixed together with the slide block of arc-shaped guide rail 3, and can be free to slide on arc-shaped guide rail; The guide rail of arc-shaped guide rail 3 is fixing with arc-shaped guide rail support 4 by tooth fan 5; First motor 6 is fixed on the gripper shoe 2, and pinion 7 is loaded on 6 in first motor, can fan on 5 at tooth and freely roll.Circular motion is that the axle of first motor 6 moves on arc-shaped guide rail 3 by pinion 7 and tooth fan 5 drive gripper shoes 2, thereby realizes the motion of finger circular arc.
The arc-shaped guide rail rotary joint mechanism of attitude adjustment member is an initiatively joint, and the motion in joint is to be provided by step-by-step movement second motor 16, realizes by Bearning mechanism.Second motor 16 is connected with axis of rotation bearing 11 by spinning motor support 15, and axis of rotation bearing 11 is fixed on the oblique slide unit 17; Bearing is contained in the axis of rotation bearing 11, and bearing inside is supported by rotation power transmission shaft 9, and the axial location of bearing is by spacer 12,10 restrictions of rotation bearing cap; Rotation power transmission shaft 9 is connected and fixed by power sensor 8 and arc-shaped guide rail support 4; Rotation bearing cap 10 is fixed on the axis of rotation bearing 11, and spacer 12 places between two bearings in the axis of rotation bearing 11; Rotation power transmission shaft 9 is connected with the axle of second motor 16 with rotation shaft joint slide block 14 by rotation shaft joint 13.The transmission that rotatablely moves is by two rotation shaft joints 13 and rotation shaft joint slide block 14 rotatablely moving of motor shaft to be passed to rotation power transmission shaft 9, and rotation power transmission shaft 9 is connected with arc-shaped guide rail support 4, drives the entire front end parts and is rotated motion.
The slant rail rectilinear motion articulation mechanism of attitude adjustment member is an initiatively joint, and the motion in joint is to be provided by step-by-step movement the 3rd motor 18, and the ball screw framework that carries by oblique slide unit 17 is realized.What realize these joint motions mainly is to drive oblique slide unit 17 by the 3rd motor 18, because the high-precision motion of its leading screw that carries and slide block realizes the accurate motion of moving slide unit, realizes rectilinear motion thereby drive two joints, whole front.
Power sensor 8 is fixedly mounted between arc-shaped guide rail support 4 and the rotation power transmission shaft 9, can detect the power of three directions and the moment of three directions.
In Fig. 6,7, horizontal position adjustment partly is to be realized by the cradle head of each arm.Wherein, big arm 35 rotary joint mechanisms are manual adjustments joints, realize by Bearning mechanism.Rotating shaft 37 and big arm 35 are connected by pin behind the big arm, are assemblied on the big arm support 38 by Bearning mechanism, make the entire front end part rotate flexibly, are convenient to manual adjustments; The retaining mechanism in this joint is realized by pluggable alignment pin, positioning disk 36 usefulness junction of the edges of two sheets of paper screws are connected with big arm 35, owing on the positioning disk 36 equally distributed pin-and-hole is arranged, when arm is gone to the operating position,, pin realized easy manually Primary Location function in the pin-and-hole of positioning disk 36 thereby being inserted.
The rotary joint mechanism of second forearm 26 is initiatively joints, and the motion in joint is to be provided by the 5th servomotor 65, by band transmission transferring power, realizes by Bearning mechanism.Its structure is similar with big arm 35 rotating mechanisms, and second forearm 26 also is to connect by pin to be connected with rotating shaft 31 behind second arm, and second forearm 26 is rotated in big arm 35 bearing blocks, realizes axial location by bearing, rotating shaft lid 32 and circlip for shaft.Second forearm 26 be connected with transition frame 27 by passing the two the second arm front rotary shaft 25 of first forearm 23, realize axial restraint by bearing, rotating shaft lid and circlip for shaft.
The timing belt wheel mechanism is made up of two flute profile belt wheels, regulating wheel and synchronous cog belts.The first flute profile belt wheel 29 is contained in behind the first arm in the rotating shaft 28 in the timing belt wheel mechanism, and fixing by belt wheel back-up ring 30, the 4th flute profile belt wheel 61 is contained on the 4th motor 64 output shafts; The second flute profile belt wheel 33 is contained in behind second arm in the rotating shaft 31, and the 3rd flute profile belt wheel 34 is contained on the 5th motor 65 output shafts.The 3rd flute profile belt wheel 34 links to each other with motor output shaft by key, power is passed to the second flute profile belt wheel 33 along the pilled-in selvedge of timing belt, the second flute profile belt wheel 33 is fixed on behind second arm in the rotating shaft 31, rotating shaft 31 is connected with second forearm, 26 pins behind second arm, rotates thereby realize driving second forearm 26; The strainer of flute profile band is to have opened an elongated slot in base plate 39 upper edges vertical flute profile band direction, the length of elongated slot is 30mm-50mm, be generally 48mm, the little axle 41 of regulating wheel 40 can be moved in the groove of base plate 39, on the little axle 41 bearing and sleeve are housed, replace sliding friction to reduce resistance with rolling friction, its end is a screw thread, after little 41, can make regulating wheel 40 be parked in the optional position of elongated slot, thereby reach the purpose of any adjusting belt wheel rate of tension with nut check.In two wire wheels of silk transmission, the wire wheel of back is fixed on the rotating shaft lid 32 with junction of the edges of two sheets of paper screw on second forearm 26, and rotating shaft lid 32 is fixed on the big arm 35, makes its relative position with big arm 35 constant; The wire wheel of front is fixed on the transition frame 27 in the same way, like this when second forearm 26 rotates with respect to big arm 35, steel wire rope will drive transition frame 27 and rotate in the opposite direction, just can the rotary joint amount of spin of second forearm 26 be compensated by this group wire wheel mechanism, realize the back end motions of second forearm 26 and do not change the front end attitude; One group of wire wheel structure on first forearm 23 is identical with second forearm 26, the wire wheel of back is fixed on the transition frame 27, the wire wheel 20 of front is with tiltedly slide unit support 19 is fixing, this group wire wheel can compensate the rotary joint amount of first forearm 23, realizes the back end motions of first forearm 23 and does not change the front end attitude.Just realized the idol of separating of the position of manipulator operating point and attitude control by two groups of quadric chains.
The strainer of wire wheel, all have the hole in each wire wheel inside, like this in coiling, one of steel wire can walk around second gripper shoe 42 and simply supported slab 43, the second gripper shoes 42 are fixed on the wire wheel by the hole, simply supported slab 43 can move freely, on the simply supported slab 43 screw thread is arranged, load onto long bolt, the top of bolt withstands on second gripper shoe 42, has so just realized the tensioning function of steel wire.
The rotary joint mechanism of first forearm 23 is initiatively joints, and the motion in joint is to be provided by the 4th servomotor 64, by band transmission transferring power, realizes by Bearning mechanism.Its structure is identical with second forearm 26, and tiltedly slide unit support 19 is connected by the first arm front rotary shaft 22 that passes the two with first forearm 23, realizes axial restraint by bearing, front rotary shaft lid 21 and circlip for shaft.First forearm 23 and second forearm 26 by the first arm that passes the two after rotating shaft 28 be connected with transition frame 27, realize axial restraint by bearing, back rotating shaft lid 24 and circlip for shaft.
In Fig. 8,9, the motion of the articulation mechanism that moves both vertically of upright position adjustment member is to be provided by the 6th servomotor 66, realizes by screw-nut body.The 6th motor 66 and decelerator are fixed on the vertical support frame 46, and vertical support frame 46 is fixed on the vertical base plate 47, and the 6th motor 66 is passed to vertical turn-screw 52 by vertical shaft joint 44, vertical slipper 45 with power; Vertical turn-screw 52 and vertical base plate 47 are connected by Bearning mechanism, and vertical axis bearing 49 is fixed on the vertical base plate 47, and vertically bearing cap 48 is fixed on the vertical axis bearing 49, and bearing places in the bearing block, and vertically turn-screw 52 can freely rotate by bearing.Vertical guide rail plate 53 is connected with vertical base plate 47 by guide rail slide block and guide rail, vertical transmission nut 50 is fixed on the vertical guide rail plate 53 by vertical adjusting pad 51, vertical turn-screw 52 is by vertical transmission nut 50, and its realization that moves both vertically is to realize with screw thread transmission between the vertical turn-screw 52 by the vertical transmission nut 50 that is installed on the vertical guide rail plate 53.
Finger of the present invention can use number of patent application 03100038 disclosed finger, also can use the following stated finger.In Figure 10, comprise the body that constitutes by outer sleeve 114 and inner sleeve 115, be arranged on the 7th motor 135 in body inner sleeve 115 tail ends, be fixed on the 8th motor 138 of body outer sleeve 114 tail ends, and be positioned at first stop 142 on the body outer sleeve by counter flange 120; Described the 8th motor 138 outputs be provided with by set gradually second initiatively flange 119, drive block 118, be fixed on the inner baffle ring 117 in the body inner sleeve tail end outside, and be locked in the apparatus rotating mechanism that the outer baffle ring 113 in the body inner sleeve 115 front ends outside, gather second steel ball 136 between inner baffle ring 117 and body outer sleeve 114 and the 3rd steel ball 146 between outer baffle ring 113 and body outer sleeve 114 of gathering are constituted by round nut 112; Be provided with boss in the described body inner sleeve 115, block the stay pipe 108 that stretches out by the inner sleeve front end; The output of described the 7th motor 135 be provided with by in stay pipe 108, set gradually first initiatively flange 111, torsionspring 110, first steel ball 133, driven pipe 109, screw rod 107, second bearing pin 145, be socketed in the back-up block 16 on second bearing pin 145, and first bearing pin 103, overcoat be fixed on the stay pipe in cover be fixed in the device opening and closing mechanism that bearing 132 on the driven pipe and inner screw sheath 102 are constituted; Described the 7th motor 135 tail ends are provided with spacer sleeve, and spacer sleeve is the plastic cylinder sleeve; Described inner screw sheath 102 is provided with long 15mm~25mm groove, is generally 20mm; First bearing pin 103 and second bearing pin 145 pass groove and are fixed on the stay pipe 108; Described stay pipe 108 front ends are provided with the apparatus quick-changing mechanism of transmission blade of a sword structure, are made of the compression spring 105, support column 104, the finger tip replacing instrument 101 that are against on the back-up block 106 that set gradually; The described second active flange 119 is provided with second stop 143, can adopt screw or block, and described first stop can adopt screw.It is 1524 series that described stepper motor can be selected for use, and its drive circuit adopts the driver with described electric drilling match, for example AD-VL-M or AD-VM-M or AD-CM-M.
Finger finger tip of the present invention is changed the groove that is mutually 90 degree that pad is provided with two connections, described finger tip replacing instrument has following two states: described finger tip replacing instrument inserts in the inner screw sheath 102, after the process dextrorotation turn 90 degrees, supported post 104 and compression spring 105 were changed instrument 101 with finger tip and are held out against fixing; Or after described finger tip replacing instrument headed into inner screw sheath 102, being rotated counterclockwise 90 degree, finger tip replacing instrument withdraws from.Described finger tip is changed instrument 101 and is held for pin, also can use surgical scissors 161, scalpel 181 or operation tweezers 171.Figure 11 a is the surgical scissors structural representation, comprises scissors bearing pin 162, scissors quick change dop 163, scissors packing ring 164, scissors spring leaf 165 and scissors screw 166,167; Figure 11 b is a surgical forceps minor structure schematic diagram, comprises tweezers bearing pin 1172, tweezers quick change dop 73, tweezers packing ring 174, tweezers spring leaf 175 and tweezers screw 176,177; Figure 11 c is the scalpel structure schematic diagram, comprises scalpel rivet 182, scalpel quick change dop 183.
The present invention's first stop 142 is positioned on the body outer sleeve, second stop 143 is positioned on the second active flange 119, described second initiatively flange 119 rotation under the 8th motor 138 drives, driving described second stop 143 together rotates, because the mutual alignment of second stop 143 on first stop 142 on the described body outer sleeve and the described second active flange 119, the described second active flange rotation is no more than 360 degree, thereby the angle of restriction finger tip instrument rotation is no more than 360 degree, prevents the 7th motor problem that circuit twines in rotary course.
Be that pin holds with finger finger tip replacing instrument now be that embodiment further specifies finger structure of the present invention.
The fluting and the enclosed slot that are interconnected above holding, pin are arranged, first bearing pin 103 that is fixed on the stay pipe 108 can enter in pin holds from fluting, and by the rotation an angle of 90 degrees move in the enclosed slot, the bottom that pin is held is connected with support column 1044, being compressed spring 105 together holds out against fixing, the other end of compression spring 105 withstands on the back-up block 106, and above-mentioned part is installed in the inner screw sheath 102 of device opening and closing mechanism; The 7th motor 135 is connected with the first active flange 111 of device opening and closing mechanism, it is to be realized by first steel ball 133 that the first active flange 111 axially is connected with driven pipe 109, this mechanism guarantees that again it freely rotates in the driven pipe 109 of axial restraint, the first active flange 111 is rotationally connected with driven pipe 109, realize the separation of the transmission mechanism of rigidity by torsionspring 110, make holding action have flexible characteristic, above-mentioned part is installed in the stay pipe 108 by Bearning mechanism 132; The 8th motor 138 is connected with the second active flange 119 of apparatus rotating mechanism, the second active flange 119 drives inner baffle rings 117 rotations by drive block 118, inner baffle ring 117 is fixed on the 7th motor 135 in the stay pipe 108 with outer baffle ring 113, wherein outer baffle ring 113 is locked by round nut 112, and above-mentioned part is rotated in body outer sleeve 114 by second steel ball 136 and the 3rd steel ball 146 of sealing.
Further specify the process of the action realization of secondary manipulator of surgery operation robot of the present invention below with embodiment.
This system can realize 6 interlocks, comprises move (in order to realize position adjust) of front end around the rotation of X, Y, three directions of Z (in order to realize the attitude adjustment), rear end X, Y, three directions of Z.
Front end is around the rotation of X, Y, three directions of Z, in order to realize the attitude adjustment.Wherein, the circular motion of finger is to drive the axle of arc-shaped guide rail first motor 6 to move on arc-shaped guide rail 3 by pinion 7 and tooth fan 5 drives first gripper shoe 2, thereby realizes the motion of finger circular arc.The realization that rotatablely moves is by two rotation shaft joints 13 and rotation shaft joint slide block 14 rotatablely moving of 16 in second motor to be passed to rotation power transmission shaft 9, and rotation power transmission shaft 9 is connected with arc-shaped guide rail support 4, drives the entire front end parts and is rotated motion.The motion that realizes the straight line of slant rail mainly is to drive oblique slide unit 17 by the 3rd motor 18, because the high-precision motion of its leading screw that carries and slide block realizes the accurate motion of moving slide unit, thereby drives entire front end parts moving linearly.
Moving of rear end X, Y, three directions of Z is in order to realize position adjustment.Wherein, the position adjustment of horizontal direction is to be realized by the cradle head of each arm.The rotation of big arm 35 is that manual adjustments realizes, drives big arm 35, drives the rotation flexibly of entire front end part by the Bearning mechanism that is assemblied on the big arm support 38; The retaining mechanism in this joint is realized by pluggable alignment pin, positioning disk 36 usefulness junction of the edges of two sheets of paper screws are connected with big arm 35, owing on the positioning disk 36 equally distributed pin-and-hole is arranged, when arm is gone to the operating position,, pin realized easy manually Primary Location function in the pin-and-hole of positioning disk 36 thereby being inserted.
The rotation of second forearm 26 is driven by the 5th servomotor 65 and realizes.Place the 5th motor 65 in the big arm 35 to drive 26 rotations of second forearm, second forearm 26 is being rotated in big arm 35 bearing blocks; The 5th motor 65 drives flute profile belt wheel 34, power is passed to flute profile belt wheel 33 along the pilled-in selvedge of timing belt, the second flute profile belt wheel 33 is fixed on behind second arm in the rotating shaft 31, and rotating shaft 31 is connected with second forearm, 26 pins behind second arm, thereby realizes driving 26 rotations of second forearm; The strainer of flute profile band is to have opened an elongated slot in base plate 39 upper edges vertical flute profile band direction, the little axle 41 of regulating wheel 40 can be moved in the groove of base plate 39, on the little axle 41 bearing and sleeve are housed, replace sliding friction to reduce resistance with rolling friction, its end is a screw thread, after little 41, can make regulating wheel 40 be parked in the optional position of elongated slot, thereby reach the purpose of any adjusting belt wheel rate of tension with nut check.
The rotation of first forearm 23 is driven by the 4th servomotor 64 and realizes, by band transmission transferring power, realizes by Bearning mechanism.Its mode is identical with second forearm 26, tiltedly slide unit support 19 is connected by the first arm front rotary shaft 22 that passes the two with first forearm 23, realize axial restraint by bearing, front rotary shaft lid 21 and circlip for shaft, and can realize the mutual rotation between the oblique slide unit support 19 and first forearm 23.First forearm 23 and second forearm 26 by the first arm that passes the two after rotating shaft 28 be connected with transition frame 27, realize axial restraint by bearing, back rotating shaft lid 24 and circlip for shaft, and can realize the mutual rotation between first forearm 23 and second forearm 26.
The motion of double-four link mechanism is realized by the silk transmission.When second forearm 26 rotates with respect to big arm 35, be fixed on wire wheel on the transition frame 27 and will drive transition frame 27 by steel wire rope and rotate in the opposite direction; Two wire wheel mechanisms by silk transmission on second forearm 26 just can compensate the rotary joint amount of spin of second forearm 26, realize the end motions afterwards of second forearm 26 and do not change the front end attitude; One group of wire wheel structure on first forearm 23 is identical with second forearm 26, the wire wheel of back is fixed on the transition frame 27, the wire wheel 20 of front is with tiltedly slide unit support 19 is fixing, this group wire wheel can compensate the rotary joint amount of first forearm 23, realizes the back end motions of first forearm 23 and does not change the front end attitude.Just realized the idol of separating of the position of manipulator operating point and attitude control by two groups of quadric chains.
The strainer of wire wheel, all have the hole in each wire wheel inside, like this in coiling, one of steel wire can walk around second gripper shoe 42 and simply supported slab 43, the second gripper shoes 42 are fixed on the wire wheel by the hole, simply supported slab 43 can move freely, on the simply supported slab 43 screw thread is arranged, load onto long bolt, the top of bolt withstands on second gripper shoe 42, has so just realized the tensioning function of steel wire.
The realization of the motion of vertical direction is by being installed in the motion that vertical transmission nut 50 on the vertical turn-screw 52 changes the rotation of vertical turn-screw 52 into the vertical direction of vertical guide rail plate 53.
Be that pin holds still below be that embodiment further specifies the process that finger movement of the present invention is realized with finger tip replacing instrument.
The main finger tip of the action of finger of the present invention itself change instrument around the folding of the rotation of self axis and operation replacing instrument to meet in the operation requirement to the finger tip instrument.
Finger finger tip parts are to drive the second active flange 119 by the 8th motor 138 by stop around the rotation of self axis, second initiatively has fluting on the flange 119, thereby drive inner baffle ring 117 rotations by the drive block 118 that is fixed in the fluting on the inner baffle ring 117, between inner baffle ring 117 and outer baffle ring 113 and the body outer sleeve 114 by sealing second steel ball 136 and the 3rd steel ball 146 links together, and can in body outer sleeve 114, rotate, thereby realized the spinfunction of finger tips around self axis.
In addition, the opening and closing movement of apparatus is driven by the 7th motor 135, the 7th motor 135 drives first initiatively flange 111 rotations by trip bolt 134, the first active flange 111 drives driven pipe 109 by torsionspring 110 and rotates, driven pipe 109 is connected with screw rod 107, screw rod 107 will rotatablely move and be converted into the rectilinear motion of inner screw sheath 102, because pin is held and is positioned at inner screw sheath 102 inside, just can realize the closed action that pin is held by the rectilinear motion forward of inner screw sheath 102; Pin is held and is had spring 121 and spring housing 122, when inner screw sheath 102 backward during rectilinear motion, because himself elasticity realizes opening action.
Secondary manipulator of surgery operation robot of the present invention is mainly used in operations such as minimally invasive surgery, ophthalmology, orthopaedics, especially carry out in microsurgery in the work such as vascular suture, secondary manipulator of surgery operation robot of the present invention can substitute operating doctor and finish blood vessel exfoliation, complicated operation technique such as sews up, cuts off.
More than be schematically to the description of the present invention and embodiment thereof, do not have restricted.So, if those of ordinary skill in the art is enlightened by it, under the situation that does not break away from the invention aim, make other embodiment, all should belong to protection scope of the present invention.

Claims (10)

1, a kind of secondary manipulator of surgery operation robot, be provided with finger foremost, it is characterized in that, be disposed with finger circular motion articulation mechanism, the arc-shaped guide rail rotary joint mechanism of fixed finger, rectilinear motion articulation mechanism, the first forearm rotary joint mechanism, the second forearm rotary joint mechanism, big arm rotary joint mechanism, vertical direction position adjusting mechanism and the timing belt wheel mechanism of slant rail;
The lock ring of first motor and holding finger is arranged on first gripper shoe in the described finger circular motion articulation mechanism, described first gripper shoe is connected with the slide block of arc-shaped guide rail, the guide rail of described arc-shaped guide rail is connected with the arc-shaped guide rail support by the tooth fan, described first motor shaft is provided with pinion, described pinion and the engagement of tooth fan;
The power sensor is fixedly set between described arc-shaped guide rail support and the rotation power transmission shaft in the described arc-shaped guide rail rotary joint mechanism, described rotation power transmission shaft passes axis of rotation bearing and is connected with the axle of second motor with rotation shaft joint slide block by the rotation shaft joint, described second motor is connected with axis of rotation bearing by the spinning motor support, described axis of rotation bearing is fixed on the oblique slide unit, described rotation power transmission shaft outer cover is equipped with spacer, the end is set with bearing, and described axis of rotation bearing is fixed with the rotation bearing cap;
The rectilinear motion articulation mechanism of described slant rail is made up of the 3rd motor, oblique slide unit and oblique slide unit support;
First forearm, one end is connected with oblique slide unit support by the first arm front rotary shaft in the described first forearm rotary joint mechanism, the described first forearm other end by the first arm after rotating shaft be connected with transition frame, the two ends of rotating shaft are provided with bearing behind described the first arm front rotary shaft and the first arm, the 4th motor is arranged on the transition frame, be respectively arranged with wire wheel in the rotating shaft behind described the first arm front rotary shaft and the first arm, described two wire wheels are connected by steel wire;
In the described second forearm rotary joint mechanism second forearm, one end by second arm after rotating shaft be connected with big arm, the described second forearm other end is connected with transition frame by the second arm front rotary shaft, the two ends of rotating shaft are provided with bearing behind the described second arm front rotary shaft and second arm, be respectively arranged with wire wheel in the rotating shaft behind the described second arm front rotary shaft and second arm, described two wire wheels are connected by steel wire, second gripper shoe is fixed on the wire wheel, simply supported slab is provided with pillar, and the top of described pillar withstands on second gripper shoe;
In the described big arm rotary joint mechanism big arm by big arm after rotating shaft be connected with big arm support, described positioning disk is connected with arm support greatly, described positioning disk is provided with bearing pin, described big arm is provided with the 5th motor;
The 6th motor is fixed on the vertical support frame in the described vertical direction position adjusting mechanism, described vertical support frame is fixed on the vertical base plate, described the 6th motor is by vertical shaft joint, vertical slipper is connected with vertical turn-screw, described vertical turn-screw both ends are set with bearing and pass the vertical axis bearing, described vertical axis bearing is fixed on the vertical base plate, described vertical axis bearing end is fixed with vertical bearing cap, described vertical base plate is connected with the vertical guide rail plate by guide rail slide block and guide rail, vertical transmission nut is fixed on the vertical guide rail plate by vertical adjusting pad, and vertical turn-screw is by vertical transmission nut;
Described timing belt wheel mechanism is made up of the first flute profile belt wheel, the second flute profile belt wheel, the 3rd flute profile belt wheel and the 4th flute profile belt wheel and regulating wheel, the described first flute profile belt wheel is arranged on behind the first arm in the rotating shaft, described the 4th flute profile belt wheel is arranged on the 4th motor output shaft, the described second flute profile belt wheel is arranged on behind second arm in the rotating shaft, described the 3rd flute profile belt wheel is arranged on the 5th motor output shaft, described big arm bottom is provided with base plate, described base plate is provided with groove, and described regulating wheel is fixed in the base plate groove by the little axle in it.
2, secondary manipulator of surgery operation robot according to claim 1, it is characterized in that, described finger comprises the body that is made of outer sleeve and inner sleeve, be arranged on the 7th motor in the body inner sleeve tail end, be arranged on the 8th motor of body outer sleeve tail end, and be arranged on first stop on the body outer sleeve, described the 8th motor output end is provided with by the second active flange that sets gradually, drive block, be fixed on the inner baffle ring in the body inner sleeve tail end outside, and the outer baffle ring that is locked in the body inner sleeve front end outside, the apparatus rotating mechanism that second steel ball between inner baffle ring and body outer sleeve and the 3rd steel ball between outer baffle ring and body outer sleeve of gathering constituted gathers; Be provided with boss in the described body inner sleeve, block the stay pipe that stretches out by the inner sleeve front end; The output of described the 7th motor be provided with by in stay pipe, set gradually first initiatively flange, torsionspring, first steel ball, driven pipe, screw rod, second bearing pin, be socketed in the back-up block on second bearing pin, and first bearing pin, overcoat be fixed on the stay pipe in cover be fixed in the device opening and closing mechanism that bearing and inner screw sheath constituted on the driven pipe; The tail end of described the 7th motor is provided with spacer sleeve; Described inner screw sheath is provided with groove, and first bearing pin and second bearing pin pass groove and be fixed on the stay pipe; Described stay pipe front end is provided with the apparatus quick-changing mechanism of transmission blade of a sword structure, it is made of the compression spring, support column, the finger tip replacing instrument that are against on the back-up block that set gradually, and described finger tip replacing instrument is provided with the groove that is mutually 60~120 degree of two connections; The described second active flange is provided with second stop, and described finger tip replacing instrument is that pin is held or scalpel or operation tweezers or surgical scissors.
3, secondary manipulator of surgery operation robot according to claim 2, it is characterized in that, described first motor or second motor or the 3rd motor or the 7th motor or the 8th motor are stepper motor, and described the 4th motor or the 5th motor or the 6th motor are servomotor.
4, secondary manipulator of surgery operation robot according to claim 1 is characterized in that, the length of groove is 30mm-50mm on the described base plate.
5, secondary manipulator of surgery operation robot according to claim 1 is characterized in that, the described pillar that is arranged on the simply supported slab is a bolt.
6, secondary manipulator of surgery operation robot according to claim 1 is characterized in that, behind described the first arm front rotary shaft or the first arm behind rotating shaft or the second arm front rotary shaft or second arm rotating shaft by bearing, rotating shaft lid and circlip for shaft axial restraint.
7, secondary manipulator of surgery operation robot according to claim 1 is characterized in that, described the 3rd flute profile belt wheel is connected with the output axle key of the 5th motor, and described the 4th flute profile belt wheel is connected with the 4th motor output shaft key.
8, secondary manipulator of surgery operation robot according to claim 1 is characterized in that, described the 3rd flute profile belt wheel is connected with the 5th motor output shaft pin, and described the 4th flute profile belt wheel is connected with the 4th motor output shaft pin.
9, secondary manipulator of surgery operation robot according to claim 1 is characterized in that, described little axle is provided with bearing and sleeve, and described little shaft end is provided with nut.
10, secondary manipulator of surgery operation robot according to claim 1 is characterized in that, described positioning disk is connected with big arm by junction of the edges of two sheets of paper screw.
CNB2005100131719A 2005-02-01 2005-02-01 Secondary manipulator of surgery operation robot CN100336640C (en)

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