CN101390763A - Robot main body system for assisting micro-wound surgical operation - Google Patents
Robot main body system for assisting micro-wound surgical operation Download PDFInfo
- Publication number
- CN101390763A CN101390763A CNA2008101527647A CN200810152764A CN101390763A CN 101390763 A CN101390763 A CN 101390763A CN A2008101527647 A CNA2008101527647 A CN A2008101527647A CN 200810152764 A CN200810152764 A CN 200810152764A CN 101390763 A CN101390763 A CN 101390763A
- Authority
- CN
- China
- Prior art keywords
- wheel
- shaft
- inputting
- gripper shoe
- body system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 13
- 238000010168 coupling process Methods 0.000 claims description 13
- 238000005859 coupling reaction Methods 0.000 claims description 13
- 210000004907 gland Anatomy 0.000 claims description 9
- 238000001356 surgical procedure Methods 0.000 abstract description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical group C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract description 2
- 208000027418 Wounds and injury Diseases 0.000 abstract 1
- 230000006378 damage Effects 0.000 abstract 1
- 208000014674 injury Diseases 0.000 abstract 1
- 238000002324 minimally invasive surgery Methods 0.000 description 19
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 9
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000004615 ingredient Substances 0.000 description 2
- 241001133184 Colletotrichum agaves Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009931 harmful effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012977 invasive surgical procedure Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 230000000153 supplemental effect Effects 0.000 description 1
- 210000004888 thoracic abdominal cavity Anatomy 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a robot body system used for assisting miniature injury surgeries. A pedestal part of the robot body system is composed of a frame and an upright post; a crossbeam part of the robot body system is composed of a crossbeam and a first sliding track arranged on the crossbeam; wherein the upright post is connected with the crossbeam; an adjusting frame part is composed of a fixed point seat which is connected with the crossbeam and is connected with a track base which is provided with a second sliding track on which a second slipper block is arranged; wherein the second slipper block is connected with an input wheel adjusting frame; a support plate part is composed of a support plate, an input wheel and an output wheel which are respectively arranged at the left side and the right side of the support plate; a first slipper block and the input wheel adjusting frame are connected with the input wheel; a telescopic body part of the robot body system is composed of a telescopic base which is connected with the output wheel; a third sliding track provided with a third slipper block is arranged on the telescopic base, and the third slipper block is connected with an operation tool base on which operation tools are arranged. The robot body system can ensure using safety and is simple in structure, small in volume and light in weight, and provides convenience for a doctor to approach the patient quickly.
Description
Technical field
The present invention relates to the armarium in a kind of micro-wound surgical operation field, it can the assisted surgery doctor implement the Minimally Invasive Surgery operation, relates in particular to a kind of robot main body system of assisted minimally invasive surgical operation of the Minimally Invasive Surgery operation that is suitable for thoracic cavity and abdominal cavity.
Background technology
Be that the minimally invasive surgery of representative is described as 20th century medical sciencies to one of significant contribution of human civilization with the peritoneoscope, the Minimally Invasive Surgery operation is meant that the doctor utilizes the miniature incision of elongated operation tool by human body surface to be insinuated into the operation that undergos surgery in the body.It is compared with traditional open surgery has advantages such as operative incision is little, amount of bleeding is few, scar after the operation is little, recovery time is fast, and this misery that makes patient suffer significantly reduces; Therefore minimally invasive surgery is widely used in clinical operation.Yet when Minimally Invasive Surgery had brought many interests for patient, but the operation to the doctor had brought a series of difficulties, as: 1) owing to the restriction of body surface aperture, the degree of freedom of instrument is reduced to four, and motility reduces greatly; 2) doctor's direction of operating is opposite with desired direction, inaccurate coordination; 3) doctor can only obtain surgical scene information by the two dimensional image on the monitor, lacks the sensation on the depth direction; 4) shake of doctor's hand may be amplified by elongated operation tool, and operation is caused harmful effect; 5) lack force feeling.Therefore, the doctor must have been trained for a long time and can carry out the Minimally Invasive Surgery operation, and even so, Minimally Invasive Surgery also only is applied among the relatively simple operation process of operation at present.Therefore, in the Minimally Invasive Surgery field, press for the ability that a kind of robot system is extended the doctor,, make the doctor can easierly finish the Minimally Invasive Surgery operation so that overcome above-mentioned shortcoming.At present, the minimally invasive surgical operation robot system that can use clinically has only Da Vinci system and Zeus system, but the shortcoming of aspect such as that they all have is bulky, cost an arm and a leg.All carried out the research of minimally invasive surgical operation robot in the world in succession as the U.S., France, Germany, Britain, Poland, Japan, Korea S and other places, and a series of model machines have been produced, but these model machines are mostly identical with the mechanism that has existed or similar, lack novelty.China still is in the starting stage aspect robotic assisted surgery, the robot system that has existed can only play assist location in operation process, can not be applied to clinical operation.Therefore develop the novel minimally invasive surgical operation robot system that a cover has independent intellectual property right and very important meaning is arranged filling up the blank of China in this field.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of robot main body system of assisted minimally invasive surgical operation is provided, it can the auxiliary doctor of clamping operation tool implement the Minimally Invasive Surgery operation, this system is by the physical constraint of mechanism self, realize the requirement of Minimally Invasive Surgery operation, the operation that makes some adopt traditional Minimally Invasive Surgery mode to finish has realized Wicresoftization.
A kind of robot main body system that is used for assisted minimally invasive surgical operation of the present invention, it comprises base part, header portion, adjustment rack part, gripper shoe part, extrusome part, described base part comprises frame, is installed on the described frame and the continuous column that is rotatably assorted with it, and an end of described column links to each other with first driving device of being made up of motor and decelerator; Described header portion comprises that the sidewall of crossbeam, described crossbeam is provided with first sliding rail, and described column and described crossbeam bottom are fixedly linked; Described adjustment rack partly comprises the fixing point seat that is fixedly linked with described crossbeam top, have the hole on described fixing point seat top, in described hole, bearing is housed, described bearing both sides are respectively arranged with bearing gland, the inner ring of described bearing and the track base that second rail plate is housed on it are fixedly linked, on described second rail plate second slide block is housed, described second slide block and a wheel for inputting adjustment rack are fixedly linked; Described supporting board branch comprises gripper shoe, in the described gripper shoe left and right sides power shaft, output shaft is housed respectively, the output wheel that wheel for inputting is housed respectively on the power shaft that is positioned at described gripper shoe one side side-walls, output shaft, rotates and cooperate by first drive mechanism and described wheel for inputting, the sidewall that is positioned at described gripper shoe opposite side is provided with first slide block that can be slidingly fitted with described first rail plate by first drive systems, and the bottom of described wheel for inputting adjustment rack and described wheel for inputting are fixedly linked; Described extrusome partly comprises flexible seat, described flexible seat bottom is fixedly linked with described output wheel, on the described flexible seat the 3rd rail plate that it is provided with the 3rd slide block is housed, the operation tool seat that described the 3rd slide block and one are equipped with operation tool on it is fixedly linked, and described the 3rd slide block and the 3rd rail plate can be slidingly fitted by second drive systems.
The present invention is used for the assisted minimally invasive surgical operation robot main body system and compared with prior art has following beneficial effect:
1. apparatus of the present invention realize the requirement that point of penetration retrains in the minimal invasive surgical procedures by the constraint of mechanism self, do not introduce redundant degree of freedom, have guaranteed the safety of using;
Apparatus of the present invention by the form that adopts the silk transmission make mechanism have simple in structure, volume is little, advantage such as in light weight;
3. apparatus of the present invention application is the Minimally Invasive Surgery towards the splanchnocoel field, the potentiality that the operation in fields such as oriented other field such as otorhinolaryngology is expanded;
4. apparatus of the present invention are carried operation tool by long beam texture and are insinuated into the patient body top from afar and carry out the Minimally Invasive Surgery operation, this structure can be saved the space that robot takies the patient body top greatly, for the doctor can provide convenience near patient fast;
5. apparatus of the present invention can the multiple supporting operation tool of more enough quick replacings, can fully satisfy Minimally Invasive Surgery and operate multifarious requirement.
6. apparatus of the present invention can be operated by the auxiliary Minimally Invasive Surgery of clamping endoscope, can free from dull, tired holding the mirror work holding the mirror doctor.
Description of drawings
Fig. 1 is the robot main body system overall structure sketch map that the present invention is used for assisted minimally invasive surgical operation;
Fig. 2 is the decomposing schematic representation of each ingredient of device shown in Figure 1;
Fig. 3 is the principle schematic that apparatus of the present invention satisfy the Minimally Invasive Surgery operational requirements;
Fig. 4 is the structural representation of the base part of device shown in Figure 1;
Fig. 5---Fig. 5 .2 is the structural representation of the header portion of device shown in Figure 1;
Fig. 6 is the structural representation of the adjustment rack part of device shown in Figure 1;
Fig. 7---Fig. 7 .3 is the structural representation of the gripper shoe part of device shown in Figure 1;
Fig. 8---Fig. 8 .1 is the structural representation of the extrusome part of device shown in Figure 1;
Fig. 9 is the sketch map of the operation tool seat that the present invention relates to.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done to describe in detail.
Fig. 1, Fig. 2, Figure 3 shows that population structure sketch map of the present invention, illustrated R, P1, P2 describe is three joints initiatively of the present invention, and wherein R is a cradle head, and P1, P2 are linear joint.What illustrated Rs1, Rs2, Rs3, Ps described is of the present invention with movable joint, and wherein Rs1, Rs2, Rs3 are the servo-actuated cradle head, and Ps is the servo-actuated linear joint; Each initiatively joint, will in the content of back, introduce in detail with movable joint.Label 1,2,3,4 refers to motor, reductor, reducer pedestal and the potentiometer that this mechanism uses respectively.What Fig. 2 described is each ingredient of the present invention, comprises base part 6, header portion 7, adjustment rack part 8, gripper shoe part 9, extrusome part 10; Figure 3 shows that the present invention realizes the principle of Minimally Invasive Surgery operational requirements.Find out easily, under the physical constraint of self structure, robot axis of extrusome in motor process is that the axis of operation tool passes through a fixing point p all the time, this point should be arranged in patient's body surface incision in the actual operation process, and the qp line is the rotation axis of cradle head R.The condition that p point position does not change be with the axis of movable joint Rs1 and with the axis of movable joint Rs2 along the distance on the z direction of principal axis of coordinate system shown in Figure 1 and with the axis of movable joint Rs3 and the equal in length of the common vertical line between the axis of joint R initiatively, the gear ratio of hair cross transmission is 1 between wheel for inputting and the output wheel, and mechanism when being in initial position the glide direction of Ps, P2 all vertical with the glide direction of P1.
A kind of robot main body system that is used for assisted minimally invasive surgical operation of the present invention, it comprises base part 6, header portion 7, adjustment rack part 8, gripper shoe part 9, extrusome part 10, described base part 6 comprises frame 6-1, is installed in the column 6-2 that described frame 6-1 goes up and is rotatably assorted continuous with it, and the end of described column 6-2 links to each other with first driving device of being made up of motor 1 and decelerator 2; Described header portion comprises that the sidewall of crossbeam 7-1, described crossbeam is provided with the first sliding rail 7-L, and described column 6-2 and described crossbeam 7-1 bottom are fixedly linked; Described adjustment rack part 8 comprises the fixing point seat 8-5 that is fixedly linked with described crossbeam 7-1 top, have the hole on described fixing point seat 8-5 top, bearing 8-6 is housed in described hole, described bearing both sides are respectively arranged with bearing gland, described bearing inner race and the track base that the second rail plate 8-L is housed on it are fixedly linked, on the described second rail plate 8-L the second slide block 8-Z is housed, the described second slide block 8-Z and a wheel for inputting adjustment rack 8-3 are fixedly linked; Described supporting board branch comprises gripper shoe 9-1, in the described gripper shoe left and right sides power shaft is housed respectively, output shaft, at the power shaft that is positioned at described gripper shoe 9-1 one side side-walls, wheel for inputting 9-2 is housed respectively on the output shaft, the output wheel 9-3 that rotates and cooperate by first drive mechanism and described wheel for inputting, the sidewall that is positioned at described gripper shoe 9-1 opposite side is provided with the first slide block 9-Z that can be slidingly fitted with the described first rail plate 7-L by first drive systems, and the bottom of described wheel for inputting adjustment rack 8-3 and described wheel for inputting 9-2 are fixedly linked; Described extrusome part 10 comprises flexible seat 10-1, described flexible seat bottom is fixedly linked with described output wheel 9-3, on the described flexible seat the 3rd rail plate 10-L that it is provided with the 3rd slide block 10-Z is housed, the operation tool seat 11-1 that described the 3rd slide block and one are equipped with operation tool on it is fixedly linked, and described the 3rd slide block and the 3rd rail plate can be slidingly fitted by second drive systems.
Described first drive mechanism comprises first and second driving wire 9-6,9-7, described first and second driving wire 9-6,9-7 are by being arranged on being connected on described wheel for inputting 9-2, the output wheel 9-3 that gripper shoe directive wheel 9-4 on the described gripper shoe 9-1 and tensioning train 9-5 intersect, and the end of described first and second driving wire 9-6,9-7 is fixed on described wheel for inputting 9-2, the output wheel 9-3 by thread pressing block.Described first drive mechanism can also adopt gear drive between described wheel for inputting and output wheel.Described first drive mechanism can also adopt the crossbar transmission between described wheel for inputting and output wheel.
Can make with movable joint Rs1, Rs2, Rs3, Ps servo-actuated by driving driving pair P1, its first driving system structure can for:
Described first drive system can include the 3rd driving wire 7-4, be installed in the first ball spline pair on the described crossbeam 7-1 by bearing, on the subsidiary urceolus of described first ball spline, be fixed with silk tube 7-8, one side shaft end of the subsidiary splined shaft of described first ball spline is by shaft coupling and by motor, second driving device that decelerator is formed links to each other, reversing shaft and directive wheel are installed on described crossbeam, be positioned at the side that described first slide block is installed on described gripper shoe tensioning eccentric and silk end briquetting are housed, described the 3rd driving wire is by described silk tube, reversing shaft, directive wheel, tensioning eccentric and its end are fixed on the described gripper shoe by described silk end briquetting.
Adopt and pass through to drive, and change P1 into the servo-actuated pair with movable joint Rs1, Rs2, Rs3, Ps.Its structure can for:
Described first drive system comprises motor, the decelerator that links to each other successively, described power shaft or output shaft are installed on the described gripper shoe 9-1 by bearing, and described decelerator links to each other with described power shaft or output shaft by shaft coupling and rotates to drive described wheel for inputting or output wheel; Perhaps described first drive system comprises motor, the decelerator that links to each other successively, described track base has axle head, described axle head is arranged in the bearing of described fixing point seat, and the axle head of described track base links to each other with described decelerator by shaft coupling and rotates to drive described track base.
Described second drive system includes the 4th driving wire 10-4, be installed in described flexible seat 10-1 top by bearing respectively, second of bottom, three ball spline pairs, described second, be fixed with respectively on the subsidiary urceolus of three ball splines and drive silk tube 10-15, with movable wire tube 10-8, one side shaft end of the subsidiary splined shaft of described second ball spline is by shaft coupling and by motor, the 3rd driving device that decelerator is formed links to each other, eccentric and silk briquetting are installed on described operation tool seat 11, and described the 4th driving wire is by described driving silk tube, with the movable wire tube, eccentric and its end are fixed on the described operation tool seat by described silk briquetting.
Described first and second drive system can also be servomotor-leading screw-guide rail structure, rotating motor-leading screw-guide rail structure, hydraulic cylinder structure, air cylinder structure.
Can be provided with potentiometer respectively to obtain the absolute location information in each joint at described adjustment rack part, base part, the handle of turning round of the potentiometer of described adjustment rack part links to each other with track base, and the handle of turning round of the potentiometer of base part links to each other with an end of column.Extrusome partly is provided with potentiometer and its and turns round handle and link to each other with the shaft coupling of the opposite side axle head that is arranged on the subsidiary splined shaft of second ball spline.Certain described potentiometer also can be replaced by the zero-bit switch.
Described in detail below in conjunction with Fig. 4-9 pair of preferred implementation of the present invention.
The structural representation of base part is by shown in Figure 4, and column 6-2 is under the driving of motor 1 and reductor 2, and around axis qp rotation, this part is an active rotation joint R of this mechanism.The other end of turning round handle and column of potentiometer 4 is fixed, and the body of potentiometer 4 then is fixed on the frame 6-1 by potentiometer seat 6-3.Pin-and-hole 6-X links to each other with pin-and-hole 7-X1 on the crossbeam 7-1 by alignment pin, and screw 6-M links to each other with screwed hole 7-M1 on the crossbeam 7-1 by screw.Frame 6-1 will link to each other in the passive adjustment arm of operating robot, during use passive adjustment arm can adopt patent (application number: structure 200610129845.6), perhaps adopt other existing structure, this partial content does not belong to category of the present invention.
The structural representation of header portion as shown in Figure 5, BP face sketch map shown in Fig. 5 .1, on the BP of crossbeam 7-1 face, be distributed with screwed hole 7-M1 and the pin-and-hole 7-X1 that links to each other required with column 6-2; Opposite side at crossbeam is distributed with screwed hole 7-M2 and pin-and-hole 7-X2, links to each other with pin-and-hole 8-X with screw 8-M on the fixing point seat 8-1 by screw and alignment pin respectively.On crossbeam 7-1, be distributed with two required cocainine reversing shaft 7-2 of a transmission and five groups of directive wheel 7-3.After the 3rd driving wire 7-4 walks around silk tube 7-8, reversing shaft 7-2, directive wheel 7-3, its two ends 7-e1 and 7-e2 will hold briquetting 9-8 and 9-9 to be fixed on the gripper shoe 9-1 by silk.Rail plate 7-L also is installed on crossbeam 7-1.The driving link of header portion 7 is shown in Fig. 5 .2A, B, ball spline shaft 7-6 links to each other with the outfan of reductor 2 through shaft coupling 7-5, on crossbeam 7-1, spline urceolus 7-7's ball spline shaft 7-6 supporting with ball spline shaft 7-6 links to each other with silk tube 7-8 by key 7-9 through bearings.When rotating under ball spline shaft 7-6 is driving, silk tube 7-8 just rotates under the drive of spline urceolus 7-7 and key 7-9; Because ball spline shaft 7-6 and spline urceolus 7-7 do not have constraint vertically, therefore in motor process the 3rd driving wire 7-4 can be under the constraint of reversing shaft 7-2 and directive wheel 7-3 the required axial location of adjustment itself automatically.
The structural representation of adjustment rack part is distributed with screw 8-M and the pin-and-hole 8-X that links to each other required with crossbeam 7-1 as shown in Figure 6 on fixing point seat 8-1; Track base 8-2 is installed on the fixing point seat 8-1 by bearing 8-6 and bearing gland 8-4,8-5; The handle of turning round of potentiometer 4 links to each other with the axle head of track base 8-2, and its body then is fixed on the bearing gland 8-4.The second rail plate 8-L is installed on the opposite side of track base 8-2, and on the supporting second slide block 8-Z of the second rail plate 8-L wheel for inputting adjustment rack 8-3 is installed; Be distributed with on the wheel for inputting adjustment rack 8-3 with wheel for inputting 9-2 required dowel hole 8-3X and screw 8-3M are installed.On adjustment rack part 8 two of integrated this mechanism with movable joint, be respectively: the servo-actuated revolute pair Rs1 by track base 8-2, spring bearing 8-6 and bearing gland 8-4,8-5 etc. constitute reaches the servo-actuated moving sets Ps that is made of track base 8-2, the second rail plate 8-L, slide 8-Z, wheel for inputting adjustment rack 8-3 etc.
The structural representation of gripper shoe part is shown in Fig. 7, Fig. 7 .1-7.3; Wheel for inputting 9-2 is installed on the gripper shoe 9-1 by parts such as power shaft 9-21, self-aligning ball bearing 9-22, bearing gland 9-23 and shaft end ring 9-24.On wheel for inputting 9-2, be distributed with wheel for inputting adjustment rack 8-3 required dowel hole 9-2X and screwed hole 9-2M are installed.The rotation of wheel for inputting 9-2 on gripper shoe 9-1 is another servo-actuated revolute pair Rs2 of this mechanism.Angular contact bearing 9-32, bearing gland 9-33 and the part such as locking nut 9-34 of output wheel 9-3 by output shaft 9-31, mounted in pairs is installed on the gripper shoe 9-1.On output wheel 9-3, be distributed with flexible seat 10-1 and be connected required dowel hole 9-3X and screwed hole 9-3M.The rotation of output wheel 9-3 on gripper shoe 9-1 is the 3rd the servo-actuated revolute pair Rs3 of this mechanism.Rs2 and Rs3 are that 1 hair cross transmission links to each other by gear ratio, see below continuous the introduction.Shown in Fig. 7 .1, be equipped with at the back side of gripper shoe 9-1 two groups with the first supporting slide block 9-Z of rail plate 7-L, after the two ends 7-e1 of driving wire 7-4 and 7-e2 pass through eccentric 9-10,9-11 break-in respectively, be fixed on the gripper shoe 9-1 by silk end briquetting 9-9 and 9-8; Can carry out tensioning to the 3rd driving wire 7-4 by rotating eccentricity wheel 9-10 and 9-11, utilize jackscrew 9-S that eccentric 9-10 and 9-11 dieback are fixed after the tensioning, this strainer is a regular strainer.The first rail plate 7-L, the first slide block 9-Z, gripper shoe 9-1 and the 3rd driving wire 7-4 drive under the drive of link at crossbeam, have constituted an active linear joint P1 of this mechanism.After directive wheel 9-4 guiding and tensioning train 9-5 tensioning, first and second two rhizoid 9-6 is being connected wheel for inputting 9-2 and output wheel 9-3 across with 9-7, first and second driving wire 9-6 and 9-7 fixed form and the fixed form of the 3rd driving wire 7-4 on gripper shoe 9-1 on wheel for inputting 9-2 and output wheel 9-3 is similar, is fixed by silk briquetting 9-35 after the break-in of output wheel 9-7 silk groove at the end on the output wheel such as driving wire 9-7.The gear ratio of this hair cross transmission is 1, and its effect is similar with one group of gear drive; Adopt the weight that the form of silk transmission can reducing mechanism, and dwindle the volume of mechanism to a certain extent.
The structural representation of extrusome part is shown in Fig. 8 A, B; Flexible seat 10-1 is distributed with pin-and-hole 10-X and screwed hole 10-M on flexible seat 10-1, link to each other with output wheel 9-3 with screw by alignment pin respectively.On flexible seat 10-1, the 3rd rail plate 10-L is installed, the 3rd supporting slide block 10-Z is housed on it, the operation tool seat 11 that is used for the clamping operation tool is installed on the 3rd slide block 10-Z.Be equipped with the combination of movable wire tube at a flexible seat 10-1 top, this combination is made up of ball spline shaft 10-5, the parts such as a 10-8 that link to each other with spline urceolus 10-6 with the supporting spline urceolus 10-6 of ball spline shaft 10-5, by key 10-7; Should make up by bearings on flexible seat 10-1 with the movable wire tube; The combination of driving silk tube is installed in flexible seat bottom, and this combination is with identical with movable wire tube principle cardinal principle; Shown in Fig. 8 .1,2 combinations link to each other with the end of ball spline shaft 10-12 by shaft coupling 10-9 motor 1 with reductor, the other end of ball spline shaft 10-12 links to each other with the handle of turning round of potentiometer 4 by shaft coupling 10-11, and the body of potentiometer 4 then is fixed on the flexible seat 10-1 by potentiometer seat 10-10; Driving silk tube 10-15 links to each other by the key 10-14 spline urceolus 10-13 supporting with following ball spline shaft 10-12.On a silk 10-8 who makes up with combination of movable wire tube and driving silk tube and 10-15, the 4th driving wire 10-4 is housed, its two ends 10-e1 will link to each other with operation tool seat 11 with 10-e2, because ball spline does not have constraint vertically, therefore in motor process, driving wire 10-4 can adjust automatically and make it arrive suitable axial location.Drive another active linear joint P2 that the silk tube makes up, constituted this mechanism with the combination of movable wire tube, driving wire and operation tool seat.End at flexible seat 10-1 also is equipped with supplemental support 10-2, is used for the operation tool of support elongated, and it is more steady, accurate that it is moved in motor process.
What Fig. 9 described is the rough schematic of operation tool seat, operation tool seat 11-1 is fixed on the slide block 10-Z, the two ends 10-e1 of driving wire 10-4 and 10-e2 are fixed on the operation tool seat 11-1 by silk briquetting 11-4 and 11-6 after walking around eccentric 11-3 and 11-5 respectively, can carry out tensioning to driving wire 10-4 by rotating eccentricity wheel 11-3 and 11-5.Operation tool 11-2 is installed on the operation tool seat 11-1, and the detailed design of operation tool seat 11-1 and operation tool does not belong to category of the present invention.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in the accompanying drawing is one of embodiments of the present invention also, and practical structure is not limited thereto.So; if those skilled in the art is enlightened by it; under the situation that does not break away from the invention aim; the transmission, driving device and the connected mode that adopt other form all should belong to protection scope of the present invention without creationary design frame mode and the embodiment similar to this technical scheme.
To illustrate that below the present invention is used for the action implementation process of the robot main body system of assisted minimally invasive surgical operation.
1. three-degree-of-freedom motion:
Assisted minimally invasive surgical operation robot main body system of the present invention is by the mutual transmission between each joint, realize three motions of operation tool, as Fig. 1, shown in Figure 3, be respectively: around swing and operation tool the moving on extrusome of a p on the both direction of space.
Operation tool is realized on the base part of robot along the swing of qp axis, drives the column rotation by motor, reductor, and then drives the rotation of entire machine people around the qp axis.The axis of another deflection of operation tool for by the some p and with the vertical straight line of paper direction, operation tool is that the driving wire that driving link by header portion drives header portion makes gripper shoe part moving linearly around the rotation of this axis, wheel for inputting on the gripper shoe deflects under the constraint of adjustment rack, hair cross transmission by the gripper shoe part deflects output wheel then, and then driving the extrusome part along the direction deflection opposite with the direction of rotation of wheel for inputting, this motion combines with the rectilinear motion of gripper shoe and makes operation tool pass through some p all the time when motion.The condition that this motion of operation tool realizes be with the axis of movable joint Rs1 with the axis of movable joint Rs2 along the axial distance of z and with the common vertical line equal in length between the axis of the axis of movable joint Rs3 and active joint R, the gear ratio of silk transmission is 1 between wheel for inputting and the output wheel, and mechanism when being in initial position the glide direction of Ps, P2 all vertical with the glide direction of P1.The motion of operation tool on extrusome is to drive the extrusome driving wire by motor, reductor, and it is reciprocating along rail plate to draw the operation tool seat that is installed on the extrusome slide block, and this motion is also by fixing point p.
2. the tensioning of driving wire
The driving wire of the driving wire of header portion and extrusome part comes silk is carried out tensioning by regular rotating eccentricity wheel mechanism, and the hair cross of gripper shoe part then is the tensioning of finishing driving wire by regular rotation tensioning train.
3. automatic row's silk of mechanism
Initiatively moving sets P1, P2 are the rectilinear motions of being realized appropriate section by driven by motor rotation silk tube to two of mechanism; Silk tube rotating cycle is greater than 1 in motor process, for prevent the driving wire mutual superposition cause together mechanism blockage and for guarantee the silk transmission accuracy, we adopt ball spline to design automatic row's silk mechanism, because ball spline retrains along axial nothing, therefore silk can be adjusted under the constraint of directive wheel or installation site automatically in the motor process, makes it reach required axial location on splined shaft.
Claims (10)
1. robot main body system that is used for assisted minimally invasive surgical operation, it is characterized in that: it comprises base part, header portion, adjustment rack part, gripper shoe part, extrusome part, described base part comprises frame, is installed on the described frame and the continuous column that is rotatably assorted with it, and an end of described column links to each other with first driving device of being made up of motor and decelerator; Described header portion comprises that the sidewall of crossbeam, described crossbeam is provided with first sliding rail, and described column and described crossbeam bottom are fixedly linked; Described adjustment rack partly comprises the fixing point seat that is fixedly linked with described crossbeam top, have the hole on described fixing point seat top, in described hole, bearing is housed, described bearing both sides are respectively arranged with bearing gland, described bearing inner race one side bearing gland and the track base that second rail plate is housed on it are fixedly linked, on described second rail plate the 21 slide block is housed, described second slide block and a wheel for inputting adjustment rack are fixedly linked; Described supporting board branch comprises gripper shoe, in the described gripper shoe left and right sides power shaft, output shaft is housed respectively, the output wheel that wheel for inputting is housed respectively on the power shaft that is positioned at described gripper shoe one side side-walls, output shaft, rotates and cooperate by first drive mechanism and described wheel for inputting, the sidewall that is positioned at described gripper shoe opposite side is provided with first slide block that can be slidingly fitted with described first rail plate by first drive systems, and the bottom of described wheel for inputting adjustment rack and described wheel for inputting are fixedly linked; Described extrusome partly comprises flexible seat, described flexible seat bottom is fixedly linked with described output wheel, on the described flexible seat the 3rd rail plate that it is provided with the 3rd slide block is housed, the operation tool seat that described the 3rd slide block and one are equipped with operation tool on it is fixedly linked, and described the 3rd slide block and the 3rd rail plate can be slidingly fitted by second drive systems.
2. the robot main body system that is used for assisted minimally invasive surgical operation according to claim 1, it is characterized in that: described first drive mechanism comprises first and second driving wire, described first and second driving wire is by being arranged on being connected on described wheel for inputting, the output wheel that gripper shoe directive wheel on the described gripper shoe and tensioning train intersect, and the end of described first and second driving wire is fixed on described wheel for inputting, the output wheel by thread pressing block.
3. the robot main body system that is used for assisted minimally invasive surgical operation according to claim 1, it is characterized in that: described first drive mechanism comprises gear, adopt gear drive or described first drive mechanism to comprise crossbar between described wheel for inputting and output wheel, adopt the crossbar transmission between described wheel for inputting and output wheel.
4. the robot main body system of assisted minimally invasive surgical operation according to claim 1, it is characterized in that: described first drive system includes the 3rd driving wire, be installed in the first ball spline pair on the described crossbeam by bearing, on the subsidiary urceolus of described first ball spline, be fixed with the silk tube, one side shaft end of the subsidiary splined shaft of described first ball spline is by shaft coupling and by motor, second driving device that decelerator is formed links to each other, reversing shaft and directive wheel are installed on described crossbeam, be positioned at the side that described first slide block is installed on described gripper shoe tensioning eccentric and silk end briquetting are housed, described the 3rd driving wire is by described silk tube, reversing shaft, directive wheel, tensioning eccentric and its end are fixed on the described gripper shoe by described silk end briquetting.
5. the robot main body system that is used for assisted minimally invasive surgical operation according to claim 1, it is characterized in that: described first drive system comprises the motor that links to each other successively, decelerator, described power shaft or output shaft are installed on the described gripper shoe by bearing, described decelerator links to each other with described power shaft or output shaft by shaft coupling, and described wheel for inputting or output wheel rotate or described first drive system comprises the motor that links to each other successively to drive, decelerator, described track base has axle head, described axle head is arranged in the bearing of described fixing point seat, and the axle head of described track base links to each other with described decelerator by shaft coupling and rotates to drive described track base.
6. the robot main body system of assisted minimally invasive surgical operation according to claim 1, it is characterized in that: described second drive system includes the 4th driving wire, be installed in described flexible seat top by bearing respectively, second of bottom, three ball spline pairs, described second, be fixed with initiatively silk tube on the subsidiary urceolus of three ball splines respectively, with the movable wire tube, one side shaft end of the subsidiary splined shaft of described second ball spline is by shaft coupling and by motor, the 3rd driving device that decelerator is formed links to each other, eccentric and silk briquetting are installed on described operation tool seat, and described the 4th driving wire is by described active silk tube, with the movable wire tube, eccentric and its end are fixed on the described operation tool seat by described silk briquetting.
7. the robot main body system of assisted minimally invasive surgical operation according to claim 1 is characterized in that: described first and second drive system is servomotor-leading screw-guide rail structure or for reversing motor-leading screw-guide rail structure.
8. the robot main body system of assisted minimally invasive surgical operation according to claim 1 is characterized in that: described first and second drive system is hydraulic cylinder structure or is air cylinder structure.
9. the robot main body system that is used for assisted minimally invasive surgical operation according to claim 1, it is characterized in that: be respectively arranged with potentiometer at described adjustment rack part, base part, the handle of turning round of the potentiometer of described adjustment rack part links to each other with track base, and the handle of turning round of the potentiometer of base part links to each other with an end of column.
10. the robot main body system that is used for assisted minimally invasive surgical operation according to claim 1, it is characterized in that: extrusome partly is provided with potentiometer, and the handle of turning round of described potentiometer links to each other with the shaft coupling of the opposite side axle head that is arranged on the subsidiary splined shaft of second ball spline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101527647A CN101390763B (en) | 2008-10-31 | 2008-10-31 | Robot main body system for assisting micro-wound surgical operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101527647A CN101390763B (en) | 2008-10-31 | 2008-10-31 | Robot main body system for assisting micro-wound surgical operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101390763A true CN101390763A (en) | 2009-03-25 |
| CN101390763B CN101390763B (en) | 2010-06-02 |
Family
ID=40491408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101527647A Active CN101390763B (en) | 2008-10-31 | 2008-10-31 | Robot main body system for assisting micro-wound surgical operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101390763B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102058433A (en) * | 2010-12-15 | 2011-05-18 | 天津大学 | Motion input device for robot-assisted minimally invasive surgery |
| CN101708129B (en) * | 2009-11-04 | 2012-05-09 | 温州医学院 | Remote-control apparatus for alimentary tract endoscope interventional treatment |
| CN102697564A (en) * | 2012-06-20 | 2012-10-03 | 哈尔滨工业大学 | Flexible-arm robot for single-pore laparoscopic minimally-invasive operation |
| CN102791216A (en) * | 2010-01-26 | 2012-11-21 | 康尔福盛2200有限公司 | Powered signal controlled hand actuated articulating device and method of use |
| CN104758053A (en) * | 2014-01-07 | 2015-07-08 | 上银科技股份有限公司 | Alignment module of motion central point of minimally-invasive surgery instrument |
| CN107378974A (en) * | 2017-08-09 | 2017-11-24 | 深圳市罗伯医疗机器人研究所 | One kind driving rope control device |
| CN107440798A (en) * | 2017-08-09 | 2017-12-08 | 深圳市罗伯医疗机器人研究所 | A kind of robot controller |
| WO2020010759A1 (en) * | 2018-07-10 | 2020-01-16 | 中国科学院沈阳自动化研究所 | Minimally invasive surgical instrument with driving single-side plate arrangement |
| CN111982663A (en) * | 2020-06-05 | 2020-11-24 | 中国飞机强度研究所 | Bidirectional follow-up supporting device for flat plate frame rib |
| CN117582263A (en) * | 2024-01-15 | 2024-02-23 | 诺美伊创医疗科技(成都)有限公司 | Medical plane blade |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1155833A (en) * | 1995-06-20 | 1997-07-30 | 伍云升 | Articulated arm for medical procedures |
| US6594553B1 (en) * | 2000-04-18 | 2003-07-15 | Alstom (Switzerland) Ltd | Process for enhancing the sulfur capture capability of an alkaline earth material |
| CN100336640C (en) * | 2005-02-01 | 2007-09-12 | 天津大学 | Secondary manipulator of surgery operation robot |
| CN2796972Y (en) * | 2005-04-04 | 2006-07-19 | 天津市华志计算机应用有限公司 | Structure of fire freedom space location robot |
| CN100345666C (en) * | 2005-07-28 | 2007-10-31 | 梁四成 | Robot for cerebral surgery operation |
| CN100469326C (en) * | 2007-06-26 | 2009-03-18 | 北京航空航天大学 | Minimal access bone operating robot based on 3D mouse operation |
-
2008
- 2008-10-31 CN CN2008101527647A patent/CN101390763B/en active Active
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101708129B (en) * | 2009-11-04 | 2012-05-09 | 温州医学院 | Remote-control apparatus for alimentary tract endoscope interventional treatment |
| CN102791216A (en) * | 2010-01-26 | 2012-11-21 | 康尔福盛2200有限公司 | Powered signal controlled hand actuated articulating device and method of use |
| CN102058433A (en) * | 2010-12-15 | 2011-05-18 | 天津大学 | Motion input device for robot-assisted minimally invasive surgery |
| CN102697564A (en) * | 2012-06-20 | 2012-10-03 | 哈尔滨工业大学 | Flexible-arm robot for single-pore laparoscopic minimally-invasive operation |
| CN102697564B (en) * | 2012-06-20 | 2014-04-23 | 哈尔滨工业大学 | Flexible-arm robot for single-pore laparoscopic minimally-invasive operation |
| CN104758053B (en) * | 2014-01-07 | 2018-01-05 | 上银科技股份有限公司 | The contraposition module of the centre of motion point of Minimally Invasive Surgery apparatus |
| CN104758053A (en) * | 2014-01-07 | 2015-07-08 | 上银科技股份有限公司 | Alignment module of motion central point of minimally-invasive surgery instrument |
| CN107378974A (en) * | 2017-08-09 | 2017-11-24 | 深圳市罗伯医疗机器人研究所 | One kind driving rope control device |
| CN107440798A (en) * | 2017-08-09 | 2017-12-08 | 深圳市罗伯医疗机器人研究所 | A kind of robot controller |
| CN107440798B (en) * | 2017-08-09 | 2023-09-29 | 深圳市罗伯医疗科技有限公司 | Robot control device |
| WO2020010759A1 (en) * | 2018-07-10 | 2020-01-16 | 中国科学院沈阳自动化研究所 | Minimally invasive surgical instrument with driving single-side plate arrangement |
| CN111982663A (en) * | 2020-06-05 | 2020-11-24 | 中国飞机强度研究所 | Bidirectional follow-up supporting device for flat plate frame rib |
| CN111982663B (en) * | 2020-06-05 | 2023-05-23 | 中国飞机强度研究所 | Bidirectional follow-up supporting device for flat frame rib |
| CN117582263A (en) * | 2024-01-15 | 2024-02-23 | 诺美伊创医疗科技(成都)有限公司 | Medical plane blade |
| CN117582263B (en) * | 2024-01-15 | 2024-04-19 | 诺美伊创医疗科技(成都)有限公司 | Medical plane blade |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101390763B (en) | 2010-06-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101390763B (en) | Robot main body system for assisting micro-wound surgical operation | |
| CN101411632B (en) | Robot active bracket for assisting minimally invasive surgical operation | |
| CN109091237B (en) | Minimally invasive surgical instrument auxiliary system | |
| CN109091236B (en) | Minimally invasive surgical instrument auxiliary operation arm | |
| CN102973317A (en) | Arrangement structure for mechanical arm of minimally invasive surgery robot | |
| CN109091230B (en) | Main operation arm for minimally invasive surgery | |
| CN202313715U (en) | Mechanical arm arrangement structure for minimally-invasive-surgery robot | |
| CN101224574A (en) | Active-passive mixed-connected robot with nine degrees of freedom | |
| CN105125380B (en) | Ankle rehabilitation device | |
| CN202342398U (en) | Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training | |
| CN105997436A (en) | Four-degree-of-freedom multi-pose lower limb rehabilitation robot | |
| CN105832498B (en) | Lower jaw healing robot | |
| CN109091235A (en) | Minimally Invasive Surgery instrument auxiliary operation arm | |
| CN109091231A (en) | Minimally Invasive Surgery main operation arm | |
| CN105796299B (en) | A kind of special leg massage robot of nursing rehabilitation | |
| CN108771578A (en) | A kind of multi-functional clamping plate that Orthopedic Clinical uses | |
| CN109009964A (en) | A kind of whole body massage device | |
| CN113520602B (en) | Mechanical arm structure, pre-positioning structure and surgical robot | |
| CN101933840B (en) | Three-drive four degree-of-freedom parallel robot with bipolar coordinate | |
| CN101933841B (en) | Four degree-of-freedom parallel robot with bipolar coordinate | |
| CN103584977B (en) | Riding type lower limb rehabilitation robot capable of achieving elliptical orbits | |
| CN101647736A (en) | Parallel-connection ectoskeleton knee joint | |
| CN103720571B (en) | A kind of planer-type exercising apparatus for recovery of upper limb | |
| CN202802057U (en) | Translation device for operating table | |
| CN112402183A (en) | Massaging device is tempered to orthopedics patient's shank |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220913 Address after: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee after: Tianjin University Patentee after: Tianjin University Asset Management Co.,Ltd. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University Effective date of registration: 20220913 Address after: 264211 no.566-1 Qishan Road, caomiaozi Town, Lingang Economic and Technological Development Zone, Weihai City, Shandong Province Patentee after: SHANDONG WEIGAO OPERATION ROBOT CO.,LTD. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University Patentee before: Tianjin University Asset Management Co.,Ltd. |