CN104398303B - A kind of series-parallel connection manipulator for Minimally Invasive Surgery - Google Patents
A kind of series-parallel connection manipulator for Minimally Invasive Surgery Download PDFInfo
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- CN104398303B CN104398303B CN201410586568.6A CN201410586568A CN104398303B CN 104398303 B CN104398303 B CN 104398303B CN 201410586568 A CN201410586568 A CN 201410586568A CN 104398303 B CN104398303 B CN 104398303B
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- revolute pair
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Abstract
The present invention relates to a kind of series-parallel connection manipulator for Minimally Invasive Surgery.The feature that the manipulator that purpose is to provide should have compact conformation, more flexible, security is high.Technical scheme is: a kind of series-parallel connection manipulator for Minimally Invasive Surgery, it is characterised in that: this manipulator includes annular base, the surgical modules being positioned on base and is connected in parallel between base and surgical modules to drive three branches of surgical modules motion.
Description
Technical field
The present invention relates to a kind of robot for Minimally Invasive Surgery, specifically a kind of series-parallel connection manipulator.
Background technology
Minimally Invasive Surgery has the advantage that otch is little compared with traditional operation of cutting open the chest, and damage is light, and safety has
Effect, can avoid internal organs to expose in atmosphere to reduce infection；The postoperative misery of patient can be reduced, sick
People's rehabilitation is very fast and can recover normal activity the most in a short time, and result for the treatment of equals to or higher than conventional surgical
Operation method；Postoperative wound is more attractive in appearance than traditional surgery, and after healing, scar is little.And along with Minimally Invasive Surgery exists
Constantly application in clinical operation and development, have the Minimally Invasive Surgery machine of higher operation precision and simple operation
Device people also arise at the historic moment.Computer Motion company of the U.S. in 1994 have developed First and assists Wicresoft
The endoscope automatic station-keeping system i.e. AESOP robot of operation, it uses cascaded structure；Within 1998, release ZEUS
Minimally Invasive Surgery operates robot, and this system uses master-slave operation technology；Within 2000, da Vinci system development becomes
Merit also becomes the permission first legal commercialization hand at Clinical practice July then through U.S. FDA approval
Art robot, it has been used to clinic and obtains good effect.
But owing to existing micro-wound operation robot volume is relatively big, structure complicated, it is loaded down with trivial details to control, costly,
When popularization and application also by more limitation, require further improvement.
Summary of the invention
It is an object of the invention to overcome the deficiency in above-mentioned background technology, it is provided that a kind of mixing for Minimally Invasive Surgery
Connection manipulator, the feature that this manipulator should have compact conformation, more flexible, security is high.
The technical scheme is that a kind of series-parallel connection manipulator for Minimally Invasive Surgery, it is characterised in that: should
Manipulator includes annular base, the surgical modules being positioned on base and is connected in base and operation in parallel
To drive three branches of surgical modules motion between module；
The first revolute pair that described each branch includes being connected in turn between surgical modules and base,
One connecting rod, the second revolute pair, second connecting rod, the 3rd revolute pair, third connecting rod, cylindrical pair hinged set with
And the fourth link as cylindrical pair slide bar；In each branch, the second revolute pair axis and the 3rd rotates
Secondary axis is parallel to each other and is perpendicular to the first revolute pair axis and cylindrical pair rotation；Three branch's machines
In structure, all first revolute pair axis co-axial and all cylindrical pair rotations intersect at the first rotation the most simultaneously
A fixing point on secondary axis；
Or, described each branch includes the first rotation being connected in turn between surgical modules and base
Pair, first connecting rod, the second revolute pair, second connecting rod, the 3rd revolute pair, as the 3rd of moving sets slide bar
Connecting rod, as the fourth link of moving sets sliding sleeve and the 4th revolute pair；In each branch, second turn
Dynamic secondary axis and the 3rd revolute pair axis are parallel to each other and be perpendicular to the first revolute pair axis, moving sets axis
With the 4th revolute pair axis, moving sets axis is also perpendicularly to the 4th revolute pair axis；Institute in three branches
There are the first revolute pair axis co-axial and all 4th revolute pair axis to intersect at the first revolute pair axis the most simultaneously
On a fixing point.
Described surgical modules includes being rotatably positioned the operation tool on all first connecting rods and for driving
The motor that instrument of having an operation rotates；The pivot center of described operation tool and the first revolute pair axis co-axial.
Wear a sleeve outside described operation tool rotationally, the first connecting rod of three branches all with this set
Cylinder forms the first revolute pair.
Described motor is fixed therein on the first connecting rod of a branch by support, and support is again with described
Sleeve is fixed.
The invention has the beneficial effects as follows:
The present invention uses the hybrid mechanism of compact conformation, is possible not only to ensure higher rigidity, and it is tired to move
Meter error, less than serial mechanism, can improve operation precision；The present invention can drive surgical modules around otch spirit
Move alively, be possible not only to meet the requirement of Minimally Invasive Surgery, and the injury to otch, safety can be reduced
Property is higher；The present invention also acts as the sham operated utensil of teaching, training；Therefore, the present invention is micro-for improving
The further genralrlization of invasive procedures is significant.
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 invention is not limited in following
Embodiment.
Embodiment one
As it is shown in figure 1, a kind of series-parallel connection manipulator for Minimally Invasive Surgery, including annular base 3, operation mould
Block and three branches.
Described surgical modules is positioned at above base, revolves including operation tool 4 and for drive surgical tools
The motor 6 turned；Described operation tool be generally laparoscopic instrument (refer specifically to incision knife, elastic separating plier, flusher,
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, including being connected to surgical modules from top to bottom in turn
And the first revolute pair 21 between base, first connecting rod the 11, second revolute pair 22, second connecting rod 12,
Three revolute pairs 23, third connecting rod 13, (the hinged set in cylindrical pair keeps hinged to cylindrical pair 30 with slide bar simultaneously
Be slidably matched, hinge axes is consistent with glide direction) and as the fourth link 14 of cylindrical pair slide bar.
In each branch, the second revolute pair axis and the 3rd revolute pair axis are parallel to each other and be perpendicular to
First revolute pair axis and cylindrical pair rotation (cylindrical pair rotation and cylindrical pair slip axis co-axial)；
Described fourth link is fixed on base；The front end of first connecting rod is rotatably positioned together by sleeve 5
(showing in figure that the front end of three first connecting rods is superimposed together the most rotationally), operation tool is then
It is inserted into rotationally in sleeve；Motor is fixed therein the first connecting rod of a branch by support 61
Upper (figure showing, support is fixed on the first connecting rod of the top and sleeve is fixed with support).
In described cylindrical pair, the hinged sleeve being fixed on third connecting rod lower end is i.e. rotatably slidably positioned again
In fourth link (fourth link is as the slide bar of this hinged sleeve)；All cylindrical pairs of three branches
Axis intersects at O point (incision site on human body, the most aforementioned fixing point when O point represents operation), institute simultaneously
There is the first revolute pair axis co-axial and pass through O point；The pivot center of described operation tool and the first turns auxiliary shaft
Line is coaxial, and therefore the pivot center of operation tool is also by O point.
As it is shown in figure 5, the incision site 9 of human body is placed with puncture cannula 7 (English Trocar), work of performing the operation
Tool stretches in human body after puncture cannula；This operation tool moves under three branches drive,
Including using incision site as the swing of initial point (the most aforesaid fixing point) and along operation tool axis side
To flexible, operation tool also can rotate under motor drives simultaneously.
Above-mentioned all revolute pairs, cylindrical pair are driven by servomotor (omitting in figure).
Embodiment two
As it is shown on figure 3, a kind of series-parallel connection manipulator for Minimally Invasive Surgery, including annular base 3, operation mould
Block and three branches.
Described surgical modules is positioned at above base, revolves including operation tool 4 and for drive surgical tools
The motor 6 turned；Described operation tool is generally laparoscopic instrument, and the lower end of operation tool is passed through at the end downwards
Stretch into below base after the central cavity 31 of seat.
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, including being connected to surgical modules from top to bottom in turn
And the first revolute pair 21 between base, first connecting rod the 11, second revolute pair 22, second connecting rod 12,
Three revolute pairs 23, third connecting rod 13, moving sets 29, fourth link 14 and the 4th revolute pair 24.
In each branch, the second revolute pair axis and the 3rd revolute pair axis are parallel to each other and be perpendicular to
First revolute pair axis, moving sets axis and the 4th revolute pair axis, moving sets axis is also perpendicularly to the 4th turn
Dynamic secondary axis；The front end of first connecting rod is rotatably positioned together by sleeve 5 and (shows three articles the in figure
The front end of one connecting rod is superimposed together the most rotationally), operation tool is inserted into set the most rotationally
In Tong；Motor is fixed therein on the first connecting rod of a branch by support 61 and (shows support in figure
It is fixed on the first connecting rod of the top and sleeve is fixed with support).
In described moving sets, third connecting rod is slidably located in fourth link that (third connecting rod is as movement
Secondary slide bar and fourth link are as the sliding sleeve of moving sets)；All 4th turns auxiliary shaft of three branches
Line intersects at O point (incision site on human body, the most aforementioned fixing point when O point represents operation), owns simultaneously
First revolute pair axis co-axial and pass through O point；The pivot center of described operation tool and the first revolute pair axis
Coaxial, therefore the pivot center of operation tool is also by O point.
As it is shown in figure 5, the incision site 9 of human body is placed with puncture cannula 7, after operation tool passes puncture cannula
Stretch in human body；This operation tool moves under three branches drive, and makees including with incision site
For the swing of initial point and stretching along operation tool axis direction, operation tool also can drive at motor simultaneously
Dynamic lower rotation.
Above-mentioned all revolute pairs, moving sets are driven by servomotor (omitting in figure).
Claims (4)
1. the series-parallel connection manipulator for Minimally Invasive Surgery, it is characterised in that: this manipulator includes at the bottom of annular
Seat (3), the surgical modules being positioned on base and be connected in parallel between base and surgical modules with drive
Three branches of surgical modules motion；
Described each branch includes the first revolute pair being connected in turn between surgical modules and base
(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 set of cylindrical pair (30) and the fourth link (14) as cylindrical pair slide bar；
In each branch, the second revolute pair axis and the 3rd revolute pair axis are parallel to each other and be perpendicular to first
Revolute pair axis and cylindrical pair rotation；In three branches, all first revolute pair axis co-axial are also
And all cylindrical pair rotations intersects at the fixing point on the first revolute pair axis the most simultaneously；
Or, described each branch includes the first rotation being connected in turn between surgical modules and base
Secondary (21), first connecting rod (11), the second revolute pair (22), second connecting rod (12), the 3rd revolute pair (23),
Third connecting rod (13) as moving sets (29) slide bar, the fourth link (14) as moving sets sliding sleeve with
And the 4th revolute pair (24)；In each branch, the second revolute pair axis and the 3rd revolute pair axis are mutual
Parallel and be perpendicular to the first revolute pair axis, moving sets axis and the 4th revolute pair axis, moving sets axis
It is also perpendicularly to the 4th revolute pair axis；All first revolute pair axis co-axial and owning in three branches
4th revolute pair axis intersects at the fixing point on the first revolute pair axis the most simultaneously.
A kind of series-parallel connection manipulator for Minimally Invasive Surgery the most according to claim 1, it is characterised in that:
Described surgical modules includes the operation tool (4) being rotatably positioned on all first connecting rods and is used for driving
The motor (6) that instrument of having an operation rotates；The pivot center of described operation tool and the first revolute pair axis co-axial.
A kind of series-parallel connection manipulator for Minimally Invasive Surgery the most according to claim 2, it is characterised in that:
Wear a sleeve (5) outside described operation tool rotationally, the first connecting rod of three branches all with this set
Cylinder forms the first revolute pair.
A kind of series-parallel connection manipulator for Minimally Invasive Surgery the most according to claim 3, it is characterised in that:
Described motor is fixed therein on the first connecting rod of a branch by support (61), support again with institute
State sleeve to fix.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410586568.6A CN104398303B (en) | 2014-10-28 | 2014-10-28 | A kind of series-parallel connection manipulator for Minimally Invasive Surgery |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410586568.6A CN104398303B (en) | 2014-10-28 | 2014-10-28 | A kind of series-parallel connection manipulator for Minimally Invasive Surgery |
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| CN104398303A CN104398303A (en) | 2015-03-11 |
| CN104398303B true CN104398303B (en) | 2016-09-07 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105997251B (en) * | 2016-06-12 | 2018-11-20 | 浙江理工大学 | A kind of four-freedom hybrid declines invasive procedures 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 |
| 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 |
| CN107363809B (en) * | 2017-07-17 | 2020-02-21 | 清华大学 | Four-degree-of-freedom parallel minimally invasive surgery robot |
| CN107877492B (en) * | 2017-11-09 | 2020-07-07 | 中国地质大学（武汉） | Parallel manipulator for minimally invasive surgery |
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| 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 |
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| 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 |
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