CN104398303A - Parallel serial mechanical arm used for minimally invasive surgery - Google Patents
Parallel serial mechanical arm used for minimally invasive surgery Download PDFInfo
- Publication number
- CN104398303A CN104398303A CN201410586568.6A CN201410586568A CN104398303A CN 104398303 A CN104398303 A CN 104398303A CN 201410586568 A CN201410586568 A CN 201410586568A CN 104398303 A CN104398303 A CN 104398303A
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- axis
- connecting rod
- minimally invasive
- base
- 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
Abstract
The invention relates to a parallel serial mechanical arm used for a minimally invasive surgery. The parallel serial mechanical arm aims at providing the mechanical arm which is compact in structure, quite flexible and high in safety performance. According to the technical scheme, the parallel serial mechanical arm used for the minimally invasive surgery is characterized in that the mechanical arm comprises an annulus base, an operation module positioned to the base and three branch mechanisms which are connected between the base and the operation module in parallel to drive a surgery module to move.
Description
Technical field
The present invention relates to a kind of robot for Minimally Invasive Surgery, specifically a kind of series-parallel connection mechanical hand.
Background technology
Minimally Invasive Surgery tool compared with traditional operation of cutting open the chest has the following advantages: otch is little, and damage is light, safe and effective, and internal organs can be avoided to expose in atmosphere to reduce infection; Can reduce the postoperative misery of patient, patients ' recovery is very fast and can recover normal activity in a short time after surgery, and therapeutic effect is equal to or higher than traditional surgery method; Postoperative wound is more attractive in appearance than traditional surgery, and after healing, cicatrix is little.And along with the continuous application and development of Minimally Invasive Surgery in clinical operation, the micro-wound operation robot with higher operation precision and simple operation has also arisen at the historic moment.Within 1994, Computer Motion company of the U.S. have developed endoscope's automatic station-keeping system and AESOP robot that First assists Minimally Invasive Surgery, and it adopts cascaded structure; Within 1998, release ZEUS Minimally Invasive Surgery manipulation robot, this system adopts master-slave operation technology; Da Vinci system development in 2000 success also to become through U.S. FDA approval July then and allows at first of Clinical practice legal commercialization operating robot, and it is for clinical and obtain good effect.
But because existing micro-wound operation robot volume is comparatively large, complex structure, control is loaded down with trivial details, costly, being also subject to more limitation, requiring further improvement when applying.
Summary of the invention
The object of the invention is to overcome the deficiency in above-mentioned background technology, a kind of series-parallel connection mechanical hand for Minimally Invasive Surgery be provided, this mechanical hand should have compact conformation, comparatively flexibly, the high feature of safety.
Technical scheme of the present invention is: a kind of series-parallel connection mechanical hand for Minimally Invasive Surgery, is characterized in that: this mechanical hand comprises annular base, is positioned at the surgical modules on base and is connected in parallel between base and surgical modules with three branches driving surgical modules to move;
Described each branch comprises the first revolute pair, first connecting rod, the second revolute pair, second connecting rod, the 3rd revolute pair, third connecting rod, the hinged cover of cylindrical pair and the double leval jib as cylindrical pair slide bar that are connected in turn between surgical modules and base; In each branch, the second revolute pair axis and the 3rd revolute pair axis parallel to each other and perpendicular to the first revolute pair axis and cylindrical pair rotation axis; All first revolute pair axis co-axial in three branches and all cylindrical pair rotation axiss intersect at the fixing point on the first revolute pair axis all simultaneously;
Or described each branch comprises the first revolute pair, first connecting rod, the second revolute pair, second connecting rod, the 3rd revolute pair, the third connecting rod as moving sets slide bar, the double leval jib as moving sets sliding sleeve and the 4th revolute pair that are connected in turn between surgical modules and base; In each branch, the second revolute pair axis and the 3rd revolute pair axis is parallel to each other and perpendicular to the first revolute pair axis, moving sets axis and the 4th revolute pair axis, moving sets axis is also perpendicular to the 4th revolute pair axis; All first revolute pair axis co-axial in three branches and all 4th revolute pair axis intersect at the fixing point on the first revolute pair axis all simultaneously.
Described surgical modules comprises the operation tool be rotatably positioned on all first connecting rods and the motor rotated for drive surgical tools; The pivot center of described operation tool and the first revolute pair axis co-axial.
Described operation tool wears a sleeve outward rotationally, and the first connecting rod of three branches all forms the first revolute pair with this sleeve.
Described motor is fixed therein on the first connecting rod of a branch by support, and support is fixed with described sleeve again.
The invention has the beneficial effects as follows:
The present invention adopts the hybrid mechanism of compact conformation, not only can ensure higher rigidity, and motion cumulative errors are less than serial mechanism, can improve operation precision; The present invention can drive surgical modules to move neatly around otch, not only can meet the requirement of Minimally Invasive Surgery, and can reduce the injury to otch, and safety is higher; The present invention also can be used as the sham operated utensil of teaching, training; Therefore, the present invention is significant for the further genralrlization improving Minimally Invasive Surgery.
Accompanying drawing explanation
Fig. 1 is the perspective view of the embodiment of the present invention one.
Fig. 2 is the schematic diagram of a branch in the embodiment of the present invention one.
Fig. 3 is the perspective view of the embodiment of the present invention two.
Fig. 4 is the schematic diagram of a branch in the embodiment of the present invention two.
Fig. 5 is the schematic diagram of working method of the present invention.
Detailed description of the invention
Below in conjunction with Figure of description, the invention will be further described, but the present invention is not limited to following examples.
Embodiment one
As shown in Figure 1, a kind of series-parallel connection mechanical hand for Minimally Invasive Surgery, comprises annular base 3, surgical modules and three branches.
Described surgical modules is positioned at above base, the motor 6 comprising operation tool 4 and rotate for drive surgical tools; Described operation tool is generally laparoscopic instrument (specifically referring to incision knife, elastic separating plier, irrigator, endoscope), and the lower end of operation tool is by stretching into below base after the central cavity 31 of base.
Described three branches are connected in parallel between base and surgical modules, can be used for driving surgical modules motion; Each branch is five degree-of-freedom manipulator, comprise the first revolute pair 21, first connecting rod 11, second revolute pair 22, second connecting rod 12, the 3rd revolute pair 23, third connecting rod 13, cylindrical pair 29 (the hinged cover in cylindrical pair and slide bar keep hinged simultaneously and be slidably matched, and hinge axes is consistent with glide direction) and the double leval jib 14 as cylindrical pair slide bar that are connected in turn from top to bottom between surgical modules and base.
In each branch, the second revolute pair axis and the 3rd revolute pair axis parallel to each other and perpendicular to the first revolute pair axis and cylindrical pair rotation axis (cylindrical pair rotation axis and cylindrical pair slip axis co-axial); Described double leval jib is fixed on base; The front end of first connecting rod is rotatably positioned together (front end showing three first connecting rods in figure is superimposed together from top to bottom rotationally) by sleeve 5, and operation tool is then inserted in sleeve rotationally; Motor to be fixed therein on the first connecting rod of a branch (show in figure on first connecting rod that support is fixed on the top and sleeve and support fix) by support 61.
In described cylindrical pair, not only the hinged sleeve being fixed on third connecting rod lower end rotatable but also be positioned at (double leval jib is as the slide bar of this hinged sleeve) on double leval jib slidably; All cylindrical pair axes intersect of three branches in O point (incision site when O point represents operation on human body, i.e. aforementioned fixing point), all first revolute pair axis co-axial and pass through O point simultaneously; The pivot center of described operation tool and the first revolute pair axis co-axial, therefore the pivot center of operation tool is also by O point.
As shown in Figure 5, the incision site 9 of human body is placed with puncture casing 7 (English Trocar), and operation tool stretches in human body through after puncture casing; This operation tool moves under three branches drive, and comprise using incision site as the swing of initial point (i.e. aforesaid fixing point) and stretching along operation tool axis direction, operation tool also can rotate under motor drives simultaneously.
Above-mentioned all revolute pairs, cylindrical pair drive by servomotor (omitting in figure).
Embodiment two
As shown in Figure 3, a kind of series-parallel connection mechanical hand for Minimally Invasive Surgery, comprises annular base 3, surgical modules and three branches.
Described surgical modules is positioned at above base, the motor 6 comprising operation tool 4 and rotate for drive surgical tools; Described operation tool is generally laparoscopic instrument, and the lower end of operation tool is stretched into below base after passing through the central cavity 31 of base downwards.
Described three branches are connected in parallel between base and surgical modules, can be used for driving surgical modules motion; Each branch is five degree-of-freedom manipulator, comprises the first revolute pair 21, first connecting rod 11, second revolute pair 22, second connecting rod 12, the 3rd revolute pair 23, third connecting rod 13, moving sets 29, double leval jib 14 and the 4th revolute pair 24 that are connected in turn from top to bottom between surgical modules and base.
In each branch, the second revolute pair axis and the 3rd revolute pair axis is parallel to each other and perpendicular to the first revolute pair axis, moving sets axis and the 4th revolute pair axis, moving sets axis is also perpendicular to the 4th revolute pair axis; The front end of first connecting rod is rotatably positioned together (front end showing three first connecting rods in figure is superimposed together from top to bottom rotationally) by sleeve 5, and operation tool is then inserted in sleeve rotationally; Motor to be fixed therein on the first connecting rod of a branch (show in figure on first connecting rod that support is fixed on the top and sleeve and support fix) by support 61.
In described moving sets, third connecting rod is positioned in double leval jib slidably (third connecting rod as the slide bar of moving sets and double leval jib as the sliding sleeve of moving sets); All 4th revolute pair axis of three branches intersect at O point (incision site when O point represents operation on human body, i.e. aforementioned fixing point), simultaneously all first revolute pair axis co-axial and pass through O point; The pivot center of described operation tool and the first revolute pair axis co-axial, therefore the pivot center of operation tool is also by O point.
As shown in Figure 5, the incision site 9 of human body is placed with puncture casing 7, and operation tool stretches in human body through after puncture casing; This operation tool moves under three branches drive, and comprises the swing using incision site as initial point and stretching along operation tool axis direction, and operation tool also can rotate under motor drives simultaneously.
Above-mentioned all revolute pairs, moving sets drive by servomotor (omitting in figure).
Claims (4)
1. for a series-parallel connection mechanical hand for Minimally Invasive Surgery, it is characterized in that: this mechanical hand comprises annular base (3), is positioned at the surgical modules (4) on base and is connected in parallel between base and surgical modules with three branches driving surgical modules to move;
Described each branch comprises the first revolute pair (21), first connecting rod (11), the second revolute pair (22), second connecting rod (12), the 3rd revolute pair (23), third connecting rod (13), the hinged cover of cylindrical pair (29) and the double leval jib (14) as cylindrical pair slide bar that are connected in turn between surgical modules and base; In each branch, the second revolute pair axis and the 3rd revolute pair axis parallel to each other and perpendicular to the first revolute pair axis and cylindrical pair rotation axis; All first revolute pair axis co-axial in three branches and all cylindrical pair rotation axiss intersect at the fixing point on the first revolute pair axis all simultaneously;
Or described each branch comprises the first revolute pair (21), first connecting rod (11), the second revolute pair (22), second connecting rod (12), the 3rd revolute pair (23), the third connecting rod (13) as moving sets (29) slide bar, the double leval jib (14) as moving sets sliding sleeve and the 4th revolute pair (24) that are connected in turn between surgical modules and base; In each branch, the second revolute pair axis and the 3rd revolute pair axis is parallel to each other and perpendicular to the first revolute pair axis, moving sets axis and the 4th revolute pair axis, moving sets axis is also perpendicular to the 4th revolute pair axis; All first revolute pair axis co-axial in three branches and all 4th revolute pair axis intersect at the fixing point on the first revolute pair axis all simultaneously.
2. a kind of series-parallel connection mechanical hand for Minimally Invasive Surgery according to claim 1, is characterized in that: described surgical modules comprises the operation tool (4) be rotatably positioned on all first connecting rods and the motor (6) rotated for drive surgical tools; The pivot center of described operation tool and the first revolute pair axis co-axial.
3. a kind of series-parallel connection mechanical hand for Minimally Invasive Surgery according to claim 2, is characterized in that: described operation tool wears a sleeve (5) outward rotationally, and the first connecting rod of three branches all forms the first revolute pair with this sleeve.
4. a kind of series-parallel connection mechanical hand for Minimally Invasive Surgery according to claim 3, is characterized in that: described motor is fixed therein on the first connecting rod of a branch by support (61), and support is fixed with described sleeve again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410586568.6A CN104398303B (en) | 2014-10-28 | 2014-10-28 | A kind of series-parallel connection manipulator for Minimally Invasive Surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410586568.6A CN104398303B (en) | 2014-10-28 | 2014-10-28 | A kind of series-parallel connection manipulator for Minimally Invasive Surgery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104398303A true CN104398303A (en) | 2015-03-11 |
| CN104398303B CN104398303B (en) | 2016-09-07 |
Family
ID=52636018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410586568.6A Active CN104398303B (en) | 2014-10-28 | 2014-10-28 | A kind of series-parallel connection manipulator for Minimally Invasive Surgery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104398303B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105997251A (en) * | 2016-06-12 | 2016-10-12 | 浙江理工大学 | Four-freedom-degree series-parallel minimally invasive surgery manipulator |
| CN106821501A (en) * | 2017-03-01 | 2017-06-13 | 浙江理工大学 | A kind of parallel abdominal-cavity minimal-invasion surgery manipulator |
| CN106965178A (en) * | 2017-04-05 | 2017-07-21 | 浙江机电职业技术学院 | It is a kind of to be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration |
| CN106963493A (en) * | 2017-03-01 | 2017-07-21 | 浙江理工大学 | A kind of parallel operating robots of 2 HRRR for Minimally Invasive Surgery |
| CN107363809A (en) * | 2017-07-17 | 2017-11-21 | 清华大学 | A kind of parallel micro-wound operation robot of four-degree-of-freedom |
| CN107877492A (en) * | 2017-11-09 | 2018-04-06 | 中国地质大学（武汉） | A kind of parallel manipulator for Minimally Invasive Surgery |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101716764A (en) * | 2009-11-11 | 2010-06-02 | 哈尔滨工业大学深圳研究生院 | Five-DOF (degree of freedom) redundance driving hybrid mechanism suitable for vibration reduction |
| CN102320041A (en) * | 2011-08-17 | 2012-01-18 | 中国农业大学 | Three freedom degree series-parallel mechanical arm |
| CN203619682U (en) * | 2013-11-19 | 2014-06-04 | 上海理工大学 | Series-parallel minimally invasive surgery mechanical arm with five freedom degrees |
| CN104057442A (en) * | 2014-06-10 | 2014-09-24 | 上海交通大学 | Series-parallel robot with five degrees of freedom |
| CN204207850U (en) * | 2014-10-28 | 2015-03-18 | 浙江理工大学 | A kind of series-parallel connection mechanical hand for Minimally Invasive Surgery |
-
2014
- 2014-10-28 CN CN201410586568.6A patent/CN104398303B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101716764A (en) * | 2009-11-11 | 2010-06-02 | 哈尔滨工业大学深圳研究生院 | Five-DOF (degree of freedom) redundance driving hybrid mechanism suitable for vibration reduction |
| CN102320041A (en) * | 2011-08-17 | 2012-01-18 | 中国农业大学 | Three freedom degree series-parallel mechanical arm |
| CN203619682U (en) * | 2013-11-19 | 2014-06-04 | 上海理工大学 | Series-parallel minimally invasive surgery mechanical arm with five freedom degrees |
| CN104057442A (en) * | 2014-06-10 | 2014-09-24 | 上海交通大学 | Series-parallel robot with five degrees of freedom |
| CN204207850U (en) * | 2014-10-28 | 2015-03-18 | 浙江理工大学 | A kind of series-parallel connection mechanical hand for Minimally Invasive Surgery |
Non-Patent Citations (1)
| Title |
|---|
| 侯超: "一种新型五自由度混联机器人的动力学研究", 《舰船防化》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105997251A (en) * | 2016-06-12 | 2016-10-12 | 浙江理工大学 | Four-freedom-degree series-parallel minimally invasive surgery manipulator |
| CN105997251B (en) * | 2016-06-12 | 2018-11-20 | 浙江理工大学 | A kind of four-freedom hybrid declines invasive procedures manipulator |
| CN106821501A (en) * | 2017-03-01 | 2017-06-13 | 浙江理工大学 | A kind of parallel abdominal-cavity minimal-invasion surgery manipulator |
| CN106963493A (en) * | 2017-03-01 | 2017-07-21 | 浙江理工大学 | A kind of parallel operating robots of 2 HRRR for Minimally Invasive Surgery |
| CN106965178A (en) * | 2017-04-05 | 2017-07-21 | 浙江机电职业技术学院 | It is a kind of to be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration |
| CN107363809A (en) * | 2017-07-17 | 2017-11-21 | 清华大学 | A kind of parallel micro-wound operation robot of four-degree-of-freedom |
| CN107363809B (en) * | 2017-07-17 | 2020-02-21 | 清华大学 | Four-degree-of-freedom parallel minimally invasive surgery robot |
| CN107877492A (en) * | 2017-11-09 | 2018-04-06 | 中国地质大学（武汉） | A kind of parallel manipulator for Minimally Invasive Surgery |
| CN107877492B (en) * | 2017-11-09 | 2020-07-07 | 中国地质大学（武汉） | Parallel manipulator for minimally invasive surgery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104398303B (en) | 2016-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104337579B (en) | A kind of series-parallel connection manipulator for Minimally Invasive Surgery | |
| CN104398303A (en) | Parallel serial mechanical arm used for minimally invasive surgery | |
| CN105997251B (en) | A kind of four-freedom hybrid declines invasive procedures manipulator | |
| US10945798B2 (en) | Methods, systems, and devices for causing end effector motion with a robotic surgical system | |
| US10849698B2 (en) | Robotics tool bailouts | |
| US10758298B2 (en) | Articulating electrosurgical tools | |
| US10568709B2 (en) | Mechanical teleoperated device for remote manipulation | |
| EP3556520B1 (en) | Remote-center-of-motion mechanism | |
| CN206482658U (en) | Surgical operating instrument and surgery forceps | |
| WO2016209769A1 (en) | Robotic surgical assemblies | |
| US10485618B2 (en) | Methods, systems, and devices for limiting torque in robotic surgical tools | |
| CN106965178A (en) | It is a kind of to be used for the mechanism of Minimally Invasive Surgery and symmetrical configuration | |
| CN105101903A (en) | Hybrid control surgical robotic system | |
| CN106037936A (en) | Linear driven parallel surgical robot | |
| CN104490477A (en) | Multi-degree-of-freedom single-incision surgical robot for laparoscopic surgery | |
| US10709513B2 (en) | Control of the rate of actuation of tool mechanism based on inherent parameters | |
| CN107949338A (en) | Surgical end effector with mechanical dominance | |
| CN204207850U (en) | A kind of series-parallel connection mechanical hand for Minimally Invasive Surgery | |
| CN106890027A (en) | A kind of parallel Minimally Invasive Surgery manipulator of 2 PRRR configurations | |
| CN204207849U (en) | A kind of New-type mixed-coupled mechanical hand for Minimally Invasive Surgery | |
| CN207341806U (en) | A kind of parallel operating robot for Minimally Invasive Surgery | |
| CN205964160U (en) | Four degree of freedom series -parallel connection formula minimal access surgery manipulators | |
| CN206643910U (en) | A kind of medical manipulator | |
| CN207270382U (en) | A kind of parallel abdominal-cavity minimal-invasion surgery manipulator | |
| CN207270383U (en) | A kind of parallel Minimally Invasive Surgery manipulator of 2-PRRR configurations |
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 |