CN104758012B - Tail end instrument for single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees - Google Patents
Tail end instrument for single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees Download PDFInfo
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- CN104758012B CN104758012B CN201510160843.2A CN201510160843A CN104758012B CN 104758012 B CN104758012 B CN 104758012B CN 201510160843 A CN201510160843 A CN 201510160843A CN 104758012 B CN104758012 B CN 104758012B
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- joint
- directive wheel
- axle
- lever
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
- A61B2017/00473—Distal part, e.g. tip or head
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a tail end instrument for a single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees, and relates to a minimally invasive surgery robot. The tail end instrument for the single port laparoscopy minimally invasive surgery flexible robot with the multiple freedom degrees solves the problems that an existing tail end instrument for the single port laparoscopy surgery robot is low in overall integration level, simple, and large in overall size, and can not completely achieve the freedom degrees similar to a person. A forth motor achieves axial rotation motion for a wrist pivoting joint through a forth joint drive wire. A fifth motor achieves pitching motion for the wrist pivoting joint through a fifth joint drive wire. A sixth motor achieves opening and closing motion for a first gripping forceps joint through a sixth joint drive wire. A seventh motor achieves opening and closing motion for a second gripping forceps joint through a seventh drive joint drive wire. The tail end instrument for the single port laparoscopy minimally invasive surgery flexible robot with the multiple freedom degrees is used in single port laparoscopy minimally invasive surgery.
Description
Technical field
The present invention relates to a kind of multiple degrees of freedom flexible robot end apparatus for single hole abdominal-cavity minimal-invasion surgery, belongs to
Operating robot technical field.
Background technology
The operating theater instruments being applied at present on the minimally invasive surgical operation robot of main flow are required for special interface module, and
And the overall dimensions of instrument portions are larger, it is distant with end wrist joint and clamping plier joint that axle turns joint, it is impossible to directly
In being applied to single hole abdominal minimally invasive surgery robot.And current most single hole abdominal minimally invasive surgery robot pin
Design to end operating theater instruments is also immature, needs to be placed on instrument end because the axle in the apparatus of end turns degree of freedom, is
The overall dimensions for reducing robot and the control complexity for reducing robot, the degree of freedom serious loss of end apparatus, device
Tool is excessively simple, it is impossible to realize completely anthropomorphic degree of freedom, and the overall dimensions of the end apparatus that degree of freedom is enriched compared with
Greatly.
The content of the invention
It is an object of the invention to provide a kind of end apparatus for single hole abdominal-cavity minimal-invasion surgery robot, existing to solve
Single hole abdominal operation robot it is not high with the over all Integration degree of end apparatus, instrument portions are excessively simple, it is impossible to fully achieve
Anthropomorphic degree of freedom, and the larger problem of overall dimensions.
The present invention is adopted the technical scheme that to solve above-mentioned technical problem：The robot walks around lever, axle including axle
Turn fix bar, wrist threading bucket, wrist axes, the first gripper clamp directive wheel, first clamping plier joint, the second gripper clamp directive wheel,
Second clamping plier joint and carpal joint,
One end that one end of flexible arm turns fix bar with axle is affixed, lever rotation that axle turns the other end of fix bar and axle is walked around
Connection, axle walk around lever the other end it is affixed with wrist threading bucket, wrist axes through wrist threading bucket a pair of engaging lugs, wrist pass
One end of section is mounted in wrist axes, and the carpal other end is built with the first clamping plier joint and the second clamping plier joint；
4th joint drive silk one bypasses the second wrist axes and turns to be walked around in lever around axle after directive wheel through after flexible arm
The second thread groove and axle lever of walking around it is affixed；
4th joint drive silk two bypasses the first wrist axes and turns to be walked around in lever around axle after directive wheel through after flexible arm
The first thread groove and axle lever of walking around it is affixed；
5th joint drive silk one bypasses the first wrist point through after flexible arm and the center cavity of lever of walking around through axle
Line wheel group is connected with carpal mounting ear；
5th joint drive silk two bypasses the second wrist point through after flexible arm and through the walk around center cavity of lever of axle
Line wheel group is affixed with carpal other end mounting ear；
6th joint drive silk one walk around through after flexible arm and through axle lever center cavity after bypass the 3rd wrist
Branching wheel group, further around cross a first gripper clamp directive wheel after, then with first clamping plier joint mounting ear it is affixed,
6th joint drive silk two through after flexible arm and through axle walk around lever center cavity bypass after directive wheel around
It is affixed with the other end mounting ear of the first clamping plier joint after crossing remaining another the first gripper clamp directive wheel；
7th joint drive silk one bypassed and bypassed after directive wheel through flexible arm and through the walk around center cavity of lever of axle
It is affixed with the mounting ear of the second clamping plier joint after one the second gripper clamp directive wheel,
7th joint drive silk two through after flexible arm and through axle walk around lever center cavity bypass after directive wheel around
It is affixed with the other end mounting ear of the second clamping plier joint after crossing remaining another the second gripper clamp directive wheel.
The invention has the advantages that：Setting tool of the present invention has 4 degree of freedom to carry out end operation technique.Instrument portions
With 4 completely anthropomorphic degree of freedom, maximum outside diameter 10mm, and entered in human body body by single hole, reduce the wound of patient
Mouth number, reduces the pain of patient, enhances the operability and precision of operating robot.
Description of the drawings
Fig. 1 is the overall structure axonometric chart figure of the present invention, and Fig. 2 is the structure sectional view that axle turns joint, and Fig. 3 is wrist threading
The structural representation of bucket, Fig. 4 is the top view of Fig. 3.
Specific embodiment
Specific embodiment one：Present embodiment is illustrated with reference to Fig. 1-Fig. 4, the robot of present embodiment walks around including axle
Lever 3, axle turns fix bar 4, wrist threading bucket 5, wrist axes 6, the first gripper clamp directive wheel 7, first and clamps plier joint 8, second
Gripper clamp directive wheel 9, second clamps plier joint 10 and carpal joint 13,
One end that one end of flexible arm turns fix bar 4 with axle is affixed, lever 3 that axle turns the other end of fix bar 4 and axle is walked around
Rotate connection, axle walk around lever 3 the other end it is affixed with wrist threading bucket 5, wrist axes 6 connect through a pair of wrist threading bucket 5
Lug, one end of carpal joint 13 is mounted in wrist axes 6, and the other end of carpal joint 13 is built with the first clamping plier joint 8 and second
Clamping plier joint 10；
4th joint drive silk one bypasses the second wrist axes through after flexible arm and turns to be walked around lever around axle after directive wheel 2-2
On the second thread groove 3-2 and axle lever 3 of walking around it is affixed；
4th joint drive silk two bypasses the first wrist axes through after flexible arm and turns to be walked around lever around axle after directive wheel 2-1
On the first thread groove 3-1 and axle lever 3 of walking around it is affixed；
5th joint drive silk one bypasses the first wrist point through after flexible arm and the center cavity of lever 3 of walking around through axle
Line wheel group is connected with the mounting ear of carpal joint 13；
5th joint drive silk two bypasses the second wrist point through after flexible arm and through the walk around center cavity of lever 3 of axle
Line wheel group is affixed with the other end mounting ear of carpal joint 13；
6th joint drive silk one walk around through after flexible arm and through axle lever 3 center cavity after bypass the 3rd wrist
Branching wheel group, further around cross a first gripper clamp directive wheel 7-1 after, then with first clamping plier joint 8 mounting ear it is affixed,
6th joint drive silk two through after flexible arm and through axle walk around lever 3 center cavity bypass after directive wheel around
It is affixed with the other end mounting ear of the first clamping plier joint 8 after crossing remaining another first gripper clamp directive wheel 7-1；
7th joint drive silk one bypassed and bypassed after directive wheel through flexible arm and through the walk around center cavity of lever 3 of axle
It is affixed with the mounting ear of the second clamping plier joint 10 after one the second gripper clamp directive wheel 9-1,
7th joint drive silk two through after flexible arm and through axle walk around lever 3 center cavity bypass after directive wheel around
It is affixed with the other end mounting ear of the second clamping plier joint 10 after crossing remaining another second gripper clamp directive wheel 9-1.
Specific embodiment two：With reference to Fig. 1 and Fig. 3 explanation present embodiments, the wrist threading bucket 5 of present embodiment is the bottom of by
5-1 and two engaging lug 5-2 of seat is formed integrally, and base 5-1 is provided with the first directive wheel fixed column 5-3, the second directive wheel and fixes
Post 5-4, the 3rd directive wheel fixed column 5-5 and the 4th directive wheel fixed column 5-6, set on the inwall of the first directive wheel fixed column 5-3
The inwall for having two directive wheels one, the second directive wheel fixed column 5-4 is provided with a directive wheel two, and second is oriented to fixed column 5-4
Side wall be provided with two directive wheels five, the inwall of the 3rd directive wheel fixed column 5-5 is provided with two directive wheels three, the 4th directive wheel
The inwall of fixed column 5-6 is provided with a directive wheel four, and the side wall of the 4th directive wheel fixed column 5-6 is provided with two directive wheels
Six, the height of the first directive wheel fixed column 5-3 is 5mm, and the height of the second directive wheel fixed column 5-4 is 10mm, the 3rd directive wheel
The height of fixed column 5-5 is 5mm, and the height of the 4th directive wheel fixed column 5-6 is 10mm.The advantage of said structure is to be by this
Row directive wheel group enables 6 passed through by wrist threading bucket center to drive silk to clamp with instrument wrist joint and two respectively
The reel of each articulation center of pincers sum is tangent, it is ensured that silk is smooth current during joint motions, is tied by the part
Structure, can realize the miniaturization of end apparatus on the premise of end free degree is met, and reduce front end Zhou Zhuan joints to end
Drive the impact of silk arrangement.Other embodiment is identical with specific embodiment one.
Specific embodiment three：The axle of present embodiment is walked around lever 3, and axle turns fix bar 4, end threading bucket 5, the first folder
Hold the clamping of plier joint 8, second plier joint 10 and adopt 1Cr18Ni9 materials.The above-mentioned all parts of advantage of said structure are required for
With tissue contact, requirement of the human body to material is met using such material.Other embodiment and specific embodiment one
It is identical.
Operation principle：4th motor is realized turning wrist axes the axial rotation motion in joint by the 4th joint drive silk,
5th motor realizes the elevating movement to wrist joint by the 5th joint drive silk, and the 6th motor passes through the 6th joint drive silk
The opening and closing campaign to the first clamping plier joint is realized, the 7th motor is realized to the second clamping plier joint by the 7th joint drive silk
Opening and closing campaign.
Claims (2)
1. a kind of end apparatus for single hole abdominal-cavity minimal-invasion surgery multiple degrees of freedom flexible robot, it walks around lever including axle
(3), axle turns fix bar (4), wrist threading bucket (5), wrist axes (6), the first gripper clamp directive wheel (7), the first clamping plier joint
(8), the second gripper clamp directive wheel (9), the second clamping plier joint (10) and carpal joint (13),
One end that one end of flexible arm turns fix bar (4) with axle is affixed, lever that axle turns the other end of fix bar (4) and axle is walked around
(3) rotate connection, axle walk around lever (3) the other end it is affixed with wrist threading bucket (5), wrist axes (6) are through wrist threading bucket
(5) a pair of engaging lugs, one end of carpal joint (13) is mounted in wrist axes (6), and the other end of carpal joint (13) is built with first
Clamping plier joint (8) and the second clamping plier joint (10)；
4th joint drive silk one bypasses the second wrist axes and turns to be walked around in lever around axle after directive wheel (2-2) through after flexible arm
The second thread groove (3-2) and axle lever (3) of walking around it is affixed；
4th joint drive silk two bypasses the first wrist axes and turns to be walked around in lever around axle after directive wheel (2-1) through after flexible arm
The first thread groove (3-1) and axle lever (3) of walking around it is affixed；
5th joint drive silk one bypasses the first wrist separated time through after flexible arm and the center cavity of lever (3) of walking around through axle
Wheel group is connected with the mounting ear of carpal joint (13)；
5th joint drive silk two bypasses the second wrist separated time through after flexible arm and through the walk around center cavity of lever (3) of axle
Wheel group is affixed with the other end mounting ear of carpal joint (13)；
6th joint drive silk one walk around through after flexible arm and through axle lever (3) center cavity after bypass the 3rd wrist point
Line wheel group, further around cross a first gripper clamp directive wheel (7-1) after, then with first clamping plier joint (8) mounting ear it is affixed,
6th joint drive silk two bypassed and bypassed after directive wheel through after flexible arm and through the walk around center cavity of lever (3) of axle
It is affixed with the other end mounting ear of the first clamping plier joint (8) after remaining another first gripper clamp directive wheel (7-1)；
7th joint drive silk one is bypassed and bypass after directive wheel one through flexible arm and through the walk around center cavity of lever (3) of axle
It is affixed with the mounting ear of the second clamping plier joint (10) after individual second gripper clamp directive wheel (9-1),
7th joint drive silk two bypassed and bypassed after directive wheel through after flexible arm and through the walk around center cavity of lever (3) of axle
It is affixed with the other end mounting ear of the second clamping plier joint (10) after remaining another second gripper clamp directive wheel (9-1), its
It is characterised by：The wrist threading bucket (5) is formed integrally by base (5-1) and two engaging lugs (5-2), is set on base (5-1)
There are the first directive wheel fixed column (5-3), the second directive wheel fixed column (5-4), the 3rd directive wheel fixed column (5-5) and the 4th to be oriented to
Wheel fixed column (5-6), the inwall of the first directive wheel fixed column (5-3) is provided with two directive wheels one, the second directive wheel fixed column
(5-4) inwall is provided with a directive wheel two, and the side wall of the second guiding fixed column (5-4) is provided with two directive wheels five, and the 3rd
The inwall of directive wheel fixed column (5-5) is provided with two directive wheels three, and the inwall of the 4th directive wheel fixed column (5-6) is provided with one
Individual directive wheel four, the side wall of the 4th directive wheel fixed column (5-6) is provided with two directive wheels six, the first directive wheel fixed column (5-
3) height is 5mm, and the height of the second directive wheel fixed column (5-4) is 10mm, and the height of the 3rd directive wheel fixed column (5-5) is
5mm, the height of the 4th directive wheel fixed column (5-6) is 10mm.
2. a kind of end apparatus for single hole abdominal-cavity minimal-invasion surgery multiple degrees of freedom flexible robot according to claim 1,
Lever (3) it is characterized in that axle is walked around, axle turns fix bar (4), end threading bucket (5), the first clamping plier joint (8), the second folder
Hold plier joint (10) and adopt 1Cr18Ni9 materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510160843.2A CN104758012B (en) | 2015-04-07 | 2015-04-07 | Tail end instrument for single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510160843.2A CN104758012B (en) | 2015-04-07 | 2015-04-07 | Tail end instrument for single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees |
Publications (2)
| Publication Number | Publication Date |
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| CN104758012A CN104758012A (en) | 2015-07-08 |
| CN104758012B true CN104758012B (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510160843.2A Active CN104758012B (en) | 2015-04-07 | 2015-04-07 | Tail end instrument for single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106214258B (en) * | 2016-07-12 | 2018-06-22 | 天津大学 | A kind of dexterous wrist mechanism for single hole minimally invasive robot |
| GB2555654B (en) * | 2016-11-08 | 2021-10-06 | Cmr Surgical Ltd | Attachment structure for securing a robot arm to a support structure |
| CN108498173A (en) * | 2018-03-09 | 2018-09-07 | 深圳市精锋医疗科技有限公司 | Motion arm with rotatable end instrument, from operation equipment and operating robot |
| CN109452976B (en) * | 2018-12-28 | 2021-01-15 | 北京术锐技术有限公司 | Flexible surgical tool system |
| CN110680413A (en) * | 2019-09-16 | 2020-01-14 | 北京明宣生物技术有限公司 | Manual three-degree-of-freedom micro-manipulator for minimally invasive surgery |
| CN112716564B (en) * | 2020-12-31 | 2022-08-26 | 杭州康基医疗器械有限公司 | Large-swing-angle single-joint surgical instrument |
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|---|---|---|---|---|
| CA2190537A1 (en) * | 1995-11-20 | 1997-05-21 | Jack Stubbs | Telerobotic laparoscopic manipulator |
| CN101732093B (en) * | 2009-11-30 | 2011-09-07 | 哈尔滨工业大学 | Micromanipulator for enterocoelia minimally invasive surgery |
| CN102028548B (en) * | 2011-01-14 | 2012-03-07 | 哈尔滨工业大学 | Clamp-type surgical instrument for abdominal cavity minimally invasive surgery robot |
| CN102488554B (en) * | 2011-11-14 | 2013-06-05 | 天津大学 | Micro instrument terminal based on module joint and used for minimally invasive surgery robot |
| 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 |
| CN103431913B (en) * | 2013-09-12 | 2015-04-29 | 哈尔滨工业大学 | Robotic surgery micro-device for minimally invasive surgery |
| CN103892924B (en) * | 2014-04-25 | 2016-08-24 | 吉林大学 | Robot assisted Minimally Invasive Surgery is with without coupling quick-changing type titanium clamp pincers operation device |
| CN104434318B (en) * | 2014-12-17 | 2016-05-25 | 上海交通大学 | A kind of operating theater instruments end structure of micro-wound operation robot |
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- 2015-04-07 CN CN201510160843.2A patent/CN104758012B/en active Active
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| CN104758012A (en) | 2015-07-08 |
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