CN103919610A - Multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure - Google Patents
Multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure Download PDFInfo
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- CN103919610A CN103919610A CN201410172288.0A CN201410172288A CN103919610A CN 103919610 A CN103919610 A CN 103919610A CN 201410172288 A CN201410172288 A CN 201410172288A CN 103919610 A CN103919610 A CN 103919610A
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Abstract
The invention provides a multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure. A braking universal wheel and a driving wheel are arranged on a bottom plate in a mobile support mechanism. By driving of two motors and meshing transmission of gears, rotating of a base and rotating of a lead screw are achieved respectively, and by thread transmission at the upper end of the lead screw, a sliding block of an arm rotating joint achieves sliding motion along the lead screw and a sliding groove track of a stand column. Small arm rotating is achieved through the motors by belt transmission. The motors achieve the rotating freedom degree of a wrist around a main shaft by belt transmission. One motor achieves swinging of a sliding track mechanism along an arc rack by inner meshing of the gears and the rack, the other motor is connected with the sliding lead screw through a coupler, and the sliding lead screw rotates to drive a finger connecting plate to move front and back. The multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure has the advantages of being stable in state, accurate in locating, good in dexterity, large in working range and the like, and the mobile support mechanism has the overall rotating freedom degree similar to the human waist and the lifting freedom degree of a lead screw part.
Description
Technical field
What the present invention relates to is a kind of mechanism that performs the operation, and specifically clamps the mechanism of operating theater instruments.
Background technology
Micro-wound surgical operation refers to the guiding of doctor by means of various visual patterns, operating theater instruments, along operation pathway planned in advance, is sent in patient body and is observed or treat through too small otch, thereby farthest reduce wound, palliate the agonizing sufferings etc.The utilization of minimally invasive surgical operation robot has solved shortcomings such as having doctor's labor intensity is large, operation precision is low, poor stability in traditional operation process, more improve the quality of operation, can overcome the defect of traditional minimally invasive surgery, can widen the scope of Minimally Invasive Surgery, can carry out Surgery Simulation, can also utilize network technology to carry out remote operation etc.But current many surgical robots directly utilize industrial robot, the reliability of its system, safety, operability all can not meet the requirement of operation.Therefore furtheing investigate minimally invasive surgery robot construction features, the robot architecture who is applicable to micro-wound surgical operation is analyzed, is very necessary problem.Surgical operation robot will have the prospect of more wide development at medical domain, and this technology will constantly improve, constantly development.
Summary of the invention
The object of the present invention is to provide the armed arm mechanism of multiple degrees of freedom micro-wound surgical operation of stablizing flexibly, being easy to control.
The object of the present invention is achieved like this:
The armed arm mechanism of multiple degrees of freedom micro-wound surgical operation of the present invention, is characterized in that: comprise traversing carriage mechanism, arm rotary joint, wrist rotary joint, sliding track mechanism, traversing carriage mechanism comprises base plate, the the first-the second motor, driving wheel, brake universal wheel, leading screw, driving wheel and brake universal wheel are arranged on base plate below, driving wheel connects axletree, axletree is arranged on base plate top by bearing, first gear is installed on axletree, the second motor base is installed in axletree top, the first motor is arranged on base plate, the second motor is arranged on the second motor base, the first motor connects the first pinion, the first pinion engages with first gear, leading screw is arranged on the second motor base, second largest gear is installed on leading screw, on the second motor, connect the second pinion, the second pinion engages with second largest gear, wrist rotary joint comprises slide block, the 3rd motor, the first-the second synchronous pulley, forearm, adpting flange, synchronous large belt wheel, main shaft, the 3rd motor is installed on slide block, the the first-the second synchronous pulley is connected by the first Timing Belt, the 3rd motor connects the first synchronous pulley, the second synchronous pulley is connected with forearm, adpting flange respectively with forearm with synchronize large belt wheel and be connected, synchronous large belt wheel is connected with main shaft by bearing, the internal thread hole matching with leading screw is set on slide block, and leading screw is arranged in internal thread hole, wrist rotary joint comprises the 4th motor, synchronous small pulley, gripper shoe, connecting plate, arc rack, gripper shoe is connected with connecting plate, the 4th motor is arranged on connecting plate, synchronous small pulley connects the 4th motor, installation shaft locating piece in gripper shoe, arc rack is arranged on the end of connecting plate, and synchronous small pulley is with synchronize large belt wheel connected by the second Timing Belt, and spindle nose is arranged in axle locating piece, sliding track mechanism comprises that the 5th motor, the 6th motor, lead screw, sliding nut, guide post, finger connecting plate, wrist always support, third pinion, the 5th motor is connected with total support of wrist, third pinion is connected with the 5th motor, third pinion is meshed with arc rack, guide post is supported and is arranged on wrist and always supports by guide post, the 6th motor connects lead screw, sliding nut is arranged in lead screw, and finger connecting plate is connected with sliding nut and is sleeved in guide post and lead screw.
The present invention can also comprise:
1, the baffle plate that plays position-limiting action is installed at arc rack two ends.
2, also comprise regulating wheel, regulating wheel is arranged on gripper shoe by regulating wheel gripper shoe, and the second Timing Belt is simultaneously around synchronous small pulley, regulating wheel, synchronous large belt wheel.
3, the angular range that sliding track mechanism swings around arc rack center is-20 °～+ 20 °, and it is-90 °～+ 90 ° that pinion and gear wheel engagement drive the angular range of axletree rotation.
Advantage of the present invention is: the advantage such as the present invention has in stable condition, accurate positioning, dexterity is good, working range is large, traversing carriage mechanism is similar to total rotary freedom of people's waist and the lifting degree of freedom of leading screw part in addition.It can effectively avoid some shortcomings of artificial operation technique, has effectively utilized the experience of operative doctor.Specifically:
1, have working range from hands series connection arm larger, positioning precision is higher, and motion intuitive is stronger, the advantage little on the impact of attitude.
2, the present invention can install micro-apparatus endways, can in very little operation opening, operate, and has alleviated the misery of patient's operation.
3, the armed arm end of the present invention can be changed according to the actual needs the different micro-apparatuses of operation is installed, and has certain versatility.
4, entirety of the present invention has six-freedom degree, and wrist part has three degree of freedom, simple, convenient operation and control.
Brief description of the drawings
Fig. 1 is integrated machine composition of the present invention;
Fig. 2 is traversing carriage structural scheme of mechanism of the present invention;
Fig. 3 is drive wheel mechanism figure of the present invention;
Fig. 4 is arm rotary joint schematic diagram of the present invention;
Fig. 5 is wrist rotary joint schematic diagram of the present invention;
Fig. 6 is sliding track mechanism schematic diagram of the present invention.
Detailed description of the invention
For example the present invention is described in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～6, the present invention is mainly made up of traversing carriage mechanism 1, arm rotary joint 2, wrist rotary joint 3, sliding track mechanism 4.
Traversing carriage mechanism 1 is by axle head block plate 1-1, driving wheel 1-2, base plate 1-3, brake universal wheel 1-4, bearing bottom 1-5, axletree 1-6, bearing (ball) cover 1-7, gear wheel 1-8, gear fixed muffle 1-9, pinion 1-10, sleeve 1-11, electric machine support 1-12, column 1-13, screw 1-14, top cover 1-15, bearing (ball) cover 1-16, deep groove ball bearing 1-17, leading screw 1-18, motor 1-19, gear fixed muffle 1-20, gear wheel 1-21, bearing block 1-22, taper roll bearing 1-23, motor 1-24, sleeve 1-25, electric machine support 1-26, pinion 1-27 composition, arm rotary joint 2 is made up of slide block 2-1, synchronous pulley 2-2, electric machine support 2-3, motor 2-4, Timing Belt 2-5, deep groove ball bearing 2-6, sleeve 2-7, axle 2-8, bearing (ball) cover 2-9, taper roll bearing 2-10, forearm 2-11, adpting flange 2-12, annular brace 2-13, synchronous large belt wheel 2-14, bearing (ball) cover 2-15, main shaft 2-16, wrist rotary joint 3 is made up of baffle plate 3-1, screw 3-2, arc rack 3-3, connecting plate 3-4, motor 3-5, synchronous small pulley 3-6, motor support plate 3-7, regulating wheel gripper shoe 3-8, regulating wheel 3-9, gripper shoe 3-10, axle locating piece 3-11, bolt 3-12, sliding track mechanism 4 always supports 4-6, guide post by motor 4-1, gripper shoe 4-2, motor support plate 4-3, pinion 4-4, upper slide rail 4-5, wrist and supports 4-7, guide post (4-8), motor 4-9, connecting plate for electric motor 4-10, shaft coupling 4-11, bearing block 4-12, finger connecting plate 4-13, connecting plate 4-14, sliding nut 4-15, lead screw 4-16, rolling bearing 4-17, circlip for hole 4-18 and form.
Bearing bottom 1-5, universal wheel 1-4, driving wheel 1-2 are bolted respectively on base plate 1-3, and driving wheel can drive whole mechanism fast moving, and when mechanism moves to the correct position of operation needs, brake universal wheel is realized the locked of mechanism.It is upper that motor 1-24 is fixed on base plate 1-3 by electric machine support 1-26, and pinion 1-27 and gear wheel 1-8 engagement drive axletree 1-6 rotation, realize a rotary freedom of integrated model.This rotation angle range, between-90 °～+ 90 °, can meet the space requirement of operation technique.Motor 1-19 drives leading screw 1-18 rotation by gear drive, makes the slide block of arm rotary joint realize and rising and descending motion along the chute track of leading screw 1-18 and column 1-13 by the screw thread transmission of leading screw upper end.
It is upper that motor 2-4 is fixed by bolts to slide block 2-1 by electric machine support 2-3, on motor 2-4 axle and axle 2-8, synchronous pulley 2-2 is all installed, and synchronous pulley is to be all connected by flat key with axle, and axial location all adopts shaft end ring to add the form of nut.Drive the synchronous pulley being arranged on axle 2-8 to rotate by Timing Belt 2-5, therefore the rotation of axle 2-8 drives the rotation of forearm 2-11 mounted thereto, and then realizes a rotary freedom of forearm 2-11.Adpting flange 2-12 is synchronizeed respectively large belt wheel 2-14 by bolt and is connected with forearm 2-11, wherein synchronous large belt wheel 2-14 couples together by pair of bearings and main shaft 2-16 and wrist part, whole system is played to the effect of a support.
It is upper that regulating wheel gripper shoe 3-8 is fixed by bolts to gripper shoe 3-10, and connecting plate 3-4 fixes with bolt and motor support plate 3-7, gripper shoe 3-10, arc rack 3-3 simultaneously.There is the baffle plate 3-1 being connected by screw at arc rack 3-3 two ends, and baffle plate 3-1 plays spacing effect.It is upper that motor 3-5 is fixed on motor support plate 3-7, fixes synchronous small pulley 3-6 on motor shaft.Motor 3-5 realizes band transmission by small pulley 3-6 and large belt wheel 2-14, and regulating wheel 3-9 is bolted on regulating wheel gripper shoe 3-8, for regulating the tensioning of Timing Belt.Bolt 3-12 and axle locating piece 3-11 realize main shaft axial and circumferential location, axle locating piece 3-11 are fixed on gripper shoe 3-10 with screw.Main shaft 2-16 drives connecting plate 3-4 to realize the rotation of wrist.
Motor 4-1 is arranged on gripper shoe 4-2 by motor support plate 4-3, gripper shoe 4-2 and upper slide rail 4-5 are bolted on wrist and always support on 4-6, pinion (4-4) is along gear motion in the fixing arc rack in position, thereby realizes sliding track mechanism 4 does-20 ° to+20 ° swing at arc rack Shang Rao center.Motor 4-9 is connected with lead screw 4-16 by shaft coupling 4-11, and motor 4-9 drives lead screw 4-16 to rotate, and lead screw 4-16 drives sliding nut 4-15 to do rectilinear motion, and wherein the guide post 4-8 of both sides ensures the precision of screw rod transmission.On sliding nut 4-15, there is locating hole, can manually pack holding screw location finger position into.This mechanism is mainly used to clamp various micro-apparatus that micro-wound surgical operation is used, and has certain versatility, and has the advantages such as volume is little, lightweight, flexibility ratio is abundant.
In conjunction with Fig. 2, in traversing carriage mechanism 1, bearing bottom 1-5, brake universal wheel 1-4, driving wheel 1-2 are bolted respectively on base plate 1-3, and two brake universal wheel 1-4 and two driving wheel 1-2 arrange about centrosymmetry.Brake universal wheel 1-4 is used is finished product, does not elaborate.Gear wheel 1-8 is connected by flat key with axletree 1-6, and axial location is to realize by gear fixed muffle 1-9.Motor 1-24 is fixed on base plate 1-3 by electric machine support 1-26, pinion 1-27 is connected by flat key with motor 1-24 axle, then with gear wheel 1-8, engagement drives axletree 1-6 rotation, realize the rotary freedom that integrated model is similar to people's waist, this rotation angle range, between-90 °～+ 90 °, can meet the space requirement of operation technique.It is upper that motor 1-19 is fixed on axletree 1-6 by electric machine support 1-12, and the pinion 1-10 being arranged on motor 1-19 drives leading screw 1-18 to rotate with the gear wheel 1-21 external toothing being fixed on by gear fixed muffle 1-20 on leading screw 1-18.Taper roll bearing 1-23 can bear larger axis to power, so leading screw 1-18 end is supported by taper roll bearing 1-23, bearing block 1-22 is bolted on axletree 1-6.Make the slide block of arm rotary joint realize and rising and descending motion along the chute track of leading screw 1-18 and column 1-13 by the screw thread transmission of leading screw upper end.
In conjunction with Fig. 3, motor 1-2-1, by box coupling 1-2-2 connection rotating shaft 1-2-11, is connected by flat key between rotating shaft 1-2-11 and wheel 1-2-10.Rotating shaft 1-2-11 and motor 1-2-1 axle are fixed on box coupling 1-2-2 by holding screw 1-2-4 respectively, motor 1-2-1 fixes by bolt and motor support frame 1-2-5, drive wheel bracket 1-2-7 connects with motor support frame 1-2-5 by screw 1-2-9 left end, right-hand member is fixed with bearing (ball) cover 1-2-8, and wheel 1-2-10 realizes axial location by nut 1-2-13 and shaft end ring 1-2-12.Driving wheel can provide power for the movement of whole mechanism, alleviates operator's burden, and brake universal wheel has auto-lock function, realizes the fixing of whole mechanism, prevents the movement of whole mechanism in operating process.
In conjunction with Fig. 4, it is upper that motor 2-4 is fixed by bolts to slide block 2-1 by electric machine support 2-3, on motor 2-4 axle and axle 2-8, synchronous pulley 2-2 is all installed, and synchronous pulley is to be all connected by flat key with axle, and axial location all adopts shaft end ring to add the form of nut.Drive the synchronous pulley being arranged on axle 2-8 to rotate by Timing Belt 2-5, between forearm 2-11 and axle 2-8, be connected with flat key, therefore the rotation of axle 2-8 drives the rotation of forearm 2-11 mounted thereto, and then realizes a rotary freedom of forearm 2-11.Deep groove ball bearing 2-6 and taper roll bearing 2-10 are also installed between forearm 2-11 and axle 2-8, and ball bearing is mainly born radial force, and taper roll bearing is born axial force and radial force simultaneously.Adpting flange 2-12 is synchronizeed respectively large belt wheel 2-14 by bolt and is connected with forearm 2-11, wherein synchronous large belt wheel 2-14 and external support link together, couple together by pair of bearings and main shaft 2-16 and wrist part, whole system is played to the effect of a support.
In conjunction with Fig. 5, it is upper that regulating wheel gripper shoe 3-8 is fixed by bolts to gripper shoe 3-10, and connecting plate 3-4 fixes with bolt and motor support plate 3-7, gripper shoe 3-10, arc rack 3-3 simultaneously.There is the baffle plate 3-1 being connected by screw at arc rack 3-3 two ends, and baffle plate 3-1 plays spacing effect.It is upper that motor 3-5 is fixed on motor support plate 3-7, fixes synchronous small pulley 3-6 on motor shaft.Regulating wheel is bolted on regulating wheel gripper shoe 3-8, for regulating the tensioning of Timing Belt.Bolt 3-12 and axle locating piece 3-11 realize main shaft axial and circumferential location, and axle locating piece 3-11 is screwed on gripper shoe 3-10.
In conjunction with Fig. 6, motor 4-1 is arranged on gripper shoe 4-2 by motor support plate 4-3, gripper shoe 4-2 and upper slide rail 4-5 are bolted on wrist and always support on 4-6, pinion (4-4) is along gear motion in the fixing arc rack in position, thereby realizes sliding track mechanism 4 does-20 ° to+20 ° swing at arc rack Shang Rao center.Motor 4-9 is fixed on wrist by connecting plate for electric motor 4-10 and always supports 4-6 above, and guide post 4-8 is fixed on wrist by guide post support 4-7 and always supports on 4-6.A pair of rolling bearing 4-17 and circlip for hole 4-18 are installed on lead screw 4-16, with bearing block 4-12, lead screw 4-16 are fixed on to wrist and always support on 4-6.Connecting plate 4-14 fixes with finger connecting plate 4-13, sliding nut 4-15 respectively by bolt.Motor 4-9 is connected with lead screw 4-16 by shaft coupling 4-11, and motor 4-9 drives lead screw 4-16 to rotate, and lead screw 4-16 drives sliding nut 4-15 to do rectilinear motion, and wherein the guide post 4-8 of both sides ensures the precision of screw rod transmission.On sliding nut 4-15, there is locating hole, can manually pack holding screw location finger position into.
In conjunction with Fig. 1 to Fig. 6, brake universal wheel and driving wheel are installed on base plate in traversing carriage mechanism 1, can realize dolly along the movement of any direction position and fixing.Realize respectively base and leading screw rotation by the driving of two motors and the engaged transmission of gear, make the slide block of arm rotary joint realize sliding motion along the chute track of leading screw and column by the screw thread transmission of leading screw upper end; In arm rotary joint 2, motor is by the rotation that realizes forearm with transmission; In wrist rotary joint 3, motor is by realizing the rotary freedom of wrist around main shaft with transmission; In sliding track mechanism 4, motor is realized the swing of sliding track mechanism along arc rack by the interior engagement of wheel and rack, another motor is connected with lead screw by shaft coupling, seesawing of connecting plate pointed in rotarily driving of lead screw, in addition can as required the micro-apparatus of operation be arranged on finger connecting plate.
Claims (5)
1. the armed arm mechanism of multiple degrees of freedom micro-wound surgical operation, is characterized in that: comprise traversing carriage mechanism, arm rotary joint, wrist rotary joint, sliding track mechanism, traversing carriage mechanism comprises base plate, the the first-the second motor, driving wheel, brake universal wheel, leading screw, driving wheel and brake universal wheel are arranged on base plate below, driving wheel connects axletree, axletree is arranged on base plate top by bearing, first gear is installed on axletree, the second motor base is installed in axletree top, the first motor is arranged on base plate, the second motor is arranged on the second motor base, the first motor connects the first pinion, the first pinion engages with first gear, leading screw is arranged on the second motor base, second largest gear is installed on leading screw, on the second motor, connect the second pinion, the second pinion engages with second largest gear, wrist rotary joint comprises slide block, the 3rd motor, the first-the second synchronous pulley, forearm, adpting flange, synchronous large belt wheel, main shaft, the 3rd motor is installed on slide block, the the first-the second synchronous pulley is connected by the first Timing Belt, the 3rd motor connects the first synchronous pulley, the second synchronous pulley is connected with forearm, adpting flange respectively with forearm with synchronize large belt wheel and be connected, synchronous large belt wheel is connected with main shaft by bearing, the internal thread hole matching with leading screw is set on slide block, and leading screw is arranged in internal thread hole, wrist rotary joint comprises the 4th motor, synchronous small pulley, gripper shoe, connecting plate, arc rack, gripper shoe is connected with connecting plate, the 4th motor is arranged on connecting plate, synchronous small pulley connects the 4th motor, installation shaft locating piece in gripper shoe, arc rack is arranged on the end of connecting plate, and synchronous small pulley is with synchronize large belt wheel connected by the second Timing Belt, and spindle nose is arranged in axle locating piece, sliding track mechanism comprises that the 5th motor, the 6th motor, lead screw, sliding nut, guide post, finger connecting plate, wrist always support, third pinion, the 5th motor is connected with total support of wrist, third pinion is connected with the 5th motor, third pinion is meshed with arc rack, guide post is supported and is arranged on wrist and always supports by guide post, the 6th motor connects lead screw, sliding nut is arranged in lead screw, and finger connecting plate is connected with sliding nut and is sleeved in guide post and lead screw.
2. the armed arm mechanism of multiple degrees of freedom micro-wound surgical operation according to claim 1, is characterized in that: the baffle plate that plays position-limiting action is installed at arc rack two ends.
3. the armed arm mechanism of multiple degrees of freedom micro-wound surgical operation according to claim 1 and 2, it is characterized in that: also comprise regulating wheel, regulating wheel is arranged on gripper shoe by regulating wheel gripper shoe, and the second Timing Belt is simultaneously around synchronous small pulley, regulating wheel, synchronous large belt wheel.
4. the armed arm mechanism of multiple degrees of freedom micro-wound surgical operation according to claim 1 and 2, it is characterized in that: the angular range that sliding track mechanism swings around arc rack center is-20 °～+ 20 °, it is-90 °～+ 90 ° that pinion and gear wheel engagement drive the angular range of axletree rotation.
5. the armed arm mechanism of multiple degrees of freedom micro-wound surgical operation according to claim 3, it is characterized in that: the angular range that sliding track mechanism swings around arc rack center is-20 °～+ 20 °, it is-90 °～+ 90 ° that pinion and gear wheel engagement drive the angular range of axletree rotation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410172288.0A CN103919610B (en) | 2014-04-25 | 2014-04-25 | The armed arm mechanism of multiple degrees of freedom micro-wound surgical operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410172288.0A CN103919610B (en) | 2014-04-25 | 2014-04-25 | The armed arm mechanism of multiple degrees of freedom micro-wound surgical operation |
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| CN103919610A true CN103919610A (en) | 2014-07-16 |
| CN103919610B CN103919610B (en) | 2016-01-27 |
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