CN105193508B - A kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation - Google Patents
A kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation Download PDFInfo
- Publication number
- CN105193508B CN105193508B CN201510696739.5A CN201510696739A CN105193508B CN 105193508 B CN105193508 B CN 105193508B CN 201510696739 A CN201510696739 A CN 201510696739A CN 105193508 B CN105193508 B CN 105193508B
- Authority
- CN
- China
- Prior art keywords
- micro
- guide rail
- finger
- straight line
- platform
- 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.)
- Expired - Fee Related
Links
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 238000001514 detection method Methods 0.000 abstract description 7
- 238000002474 experimental method Methods 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 abstract description 4
- 230000003068 static effect Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 206010016256 fatigue Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012977 invasive surgical procedure Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
It is an object of the invention to provide a kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation, including mounting platform, drive mechanism, transmission mechanism, linkage and testing agency, drive mechanism is mainly made up of linear stepping motor and retaining element, and linear stepping motor couples with motor fixing frame；Transmission mechanism includes two identical cylindrical linear rails, and two cylindrical linear rails are coupled by guide rail beam, and cylindrical guide is arranged on guide supporting platform by bolt；Linkage refers mainly to micro- apparatus of performing the operation, and the main micro- apparatus push rod of the micro- apparatus of the operation, micro- instrument catheter, pipe joint element, two panels have the finger forceps of power detection function, finger forceps rotating connector and finger forceps rotating pin.Power calibration experiment is realized in the finger forceps end that the present invention is applied to the micro- apparatus of operation with power detection function by external applied load, while different angle power demarcation, static demarcating and dynamic calibration can be realized.
Description
Technical field
The present invention relates to a kind of operating theater instruments, calibration experiment platform of specifically performing the operation.
Background technology
The micro- apparatus of micro-wound surgical operation is the vital apparatus of micro-wound surgical operation, and doctor manipulates micro- apparatus and completes complicated
Surgical procedure so that the wound of operation is small, mitigates the pain of patient, also operating time and post-operative recovery time is shortened,
The technology also overcomes doctor because of damage unnecessary caused by operation complexity, fatiguability, improves the precision and safety of operation
Property.For Most current minimally-invasive surgery robot system, Minimally Invasive Surgery can be smoothly realized using robot assisted, together
When, the micro- apparatus of micro-wound surgical operation is along in the intelligent direction development with power detection function, actual minimal invasive surgical procedures,
Because wound is small, the vision of doctor is restricted, although doctor can see operative site by laparoscope by vision, but be
Doctor can be made really and accurately to grasp the situation at actual lesion position, reach that the purpose of hand eye coordination, i.e. doctor are removed by regarding
Feel outside observation surgery situation, the power for also touching or clamping histoorgan by micro- apparatus moment feedback of performing the operation feels information, control
The dynamics of operation technique is adjusted, so as to improve the precision and success rate of operation, makes the micro- apparatus of operation that there is power detection function to be ten
Divide necessary, realize that power feels detection to can guarantee that the micro- apparatus of operation is real during actual operation, further investigate available
The experimental bench demarcated in the micro- apparatus multi-dimensional force of micro-wound surgical operation is very necessary problem.
Research at present both at home and abroad on the experimental bench of the micro- apparatus three-dimensional force demarcation of micro-wound surgical operation is less, most of power
Calibration experiment platform is to carry out calibration experiment for general multi-dimension force sensor, therefore there is a kind of be directed to of design power to detect function
The micro- apparatus of micro-wound surgical operation to carry out the experimental bench of three-dimensional force demarcation be highly important.
The content of the invention
It can be used for performing the operation it is an object of the invention to provide one kind suitable for robot assisted micro-wound surgical operation field
The experimental bench of micro- apparatus three-dimensional force demarcation.
The object of the present invention is achieved like this：
A kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation of the present invention, it is characterized in that：Including mounting platform, directly
Line stepper motor, micro- apparatus of performing the operation, linear stepping motor is arranged on mounting platform by motor fixing frame, solid on mounting platform
Surely there are first straight line guide rail and second straight line guide rail, first straight line guide rail and second straight line guide rail are respectively positioned at motor fixing frame
Set in both sides, first straight line guide rail and second straight line guide rail slide block is set in first straight line guide rail slide block, second straight line guide rail, the
Guide rail beam is fixed on one straight-line guide rail slide block and second straight line guide rail slide block, the output shaft of linear stepping motor is connected by motor
Fitting connects guide rail beam, and the micro- apparatus of operation includes micro- apparatus push rod, micro- instrument catheter, and micro- apparatus push rod stretches to micro- device
In tool conduit, micro- apparatus push rod output end installs the first finger forceps rotating connector, second finger pincers rotating connector, first-hand
Refer to pincers rotating connector connect the first finger forceps, second finger pincers rotating connector connection second finger pincers, the first finger forceps and
Second finger pincers are arranged in a crossed manner, and finger forceps rotating pin is installed in infall, and micro- instrument catheter connecting conduit connector, conduit connects
Fitting is arranged on the outside that the first finger forceps and second finger are clamped by finger forceps rotating pin, and the input of micro- apparatus push rod connects
Connect and micro- apparatus fixed support is set on motor contact and guide rail beam, mounting platform, micro- instrument catheter passes through vertical support seat
It is arranged on micro- apparatus fixed support.
The present invention can also include：
Linear displacement transducer matrix is installed on the 1st, install sensor supporting table on mounting platform, sensor support platform, led
Rail below the crossbeam installs linear displacement transducer sliding block, and linear displacement transducer sliding block is arranged on linear displacement transducer matrix
In.
2nd, install to be provided with to install outside leading screw, leading screw on manual fine-tuning platform, manual fine-tuning platform on mounting platform and match somebody with somebody with it
It is fixed with the middle part of guide rail bracket, micro- instrument catheter and is arranged on guide rail bracket on the sliding block of conjunction, sliding block.
Advantage of the invention is that：
1. simple in construction, mechanism large carrying capacity of the invention, kinematic accuracy is high, overall structure is in symmetrical structure, load into
It is symmetrical,
2. transmission mechanism friction of the present invention is small, inertia is small, and the linearity is high, and control is easy.
3. design of part of the present invention is simple, it is easy to fabricate, it is easily installed, dismantles and repairs.
4. the present invention is applied to the micro- apparatus multi-dimensional force demarcation of micro-wound surgical operation, you can action can also be entered by carrying out static demarcating
State is demarcated.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the micro- apparatus schematic diagram of present invention operation；
Fig. 3 is the micro- apparatus transmission mechanism schematic diagram of present invention operation；
Fig. 4 is linear displacement transducer schematic diagram of the present invention.
Embodiment
Illustrate below in conjunction with the accompanying drawings and the present invention is described in more detail：
With reference to Fig. 1~4, the present invention is a kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation, and its composition includes：
Mounting platform, drive mechanism, transmission mechanism, linkage and testing agency.Actuator in drive mechanism is straight line stepping electricity
Machine 2, linear stepping motor 2 is bolted to motor supporting table 19 by motor fixing frame 3 by four, and linear stepping motor axle leads to
Cross motor contact 5 with transmission mechanism to couple, motor contact 5 is fixed on step motor shaft by nut；Transmission mechanism is main
Including two cylindrical linear rails and guide rail beam 6, the first cylindrical linear rail is by 7 groups of line slideway 4 and straight-line guide rail slide block
Into, the second cylindrical linear rail is made up of line slideway 18 with straight-line guide rail slide block 16, perform the operation micro- apparatus 11 and guide rail beam 6 with
The same bolt-connection of motor contact 5, when linear stepping motor 2 works by push rail crossbeam 6 with perform the operation micro- apparatus 11 to
Preceding linear motion, guide rail beam 6 couples with straight-line guide rail slide block 7 and straight-line guide rail slide block 16, so as to ensure micro- apparatus 11 of performing the operation
Prolong guide rail linear motion, while motion, sliding block 15-1 and the guide rail beam 6 of linear displacement transducer 15 are connected by bolts
It is moved together, the actual displacement amount of the micro- apparatus of the measurement operation of linear displacement transducer 15, and it is fixed on sensor branch
Support on platform 14, in order to which left and right downward shift does not occur for micro- apparatus 11 that ensures to perform the operation, entered using vertical support seat 9 with catheter carriage 13
Row positioning, the bottom of catheter carriage 13 couples with manual fine-tuning platform 12, so that realize that catheter carriage can prolong guide rail and be finely adjusted movement,
The installation that the part being easily installed on adjustment and the follow-up analysis to deformation of guide tube, a whole set of platform is all fixed on the bottom is put down
On platform 1, it is ensured that experimental provision is horizontally mounted.
With reference to accompanying drawing 2, accompanying drawing 3, the present invention is a kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation, and is performed the operation micro-
Apparatus includes：Micro- apparatus push rod 20, micro- instrument catheter 21, pipe joint element 22, finger forceps 24 and 25, finger forceps rotating connector
23 and 27 and finger forceps rotating pin 26, when linear stepping motor 2 drives guide rail beam 6 to move, micro- apparatus push rod will be promoted
20 motions, now micro- instrument catheter 21 is by the fixation of vertical support seat 9, and pipe joint element 22 couples with the fastening of micro- instrument catheter 21,
Micro- apparatus push rod 20 promotes the associated finger forceps rotating connector 23 and 27 connect to move simultaneously, and finger forceps rotating connector is pushed away
It is dynamic to be rotated with finger forceps rotating pin 26 for the finger forceps 24 of rotating shaft with 25, opened while realizing finger forceps 24 and 25 and
Closure, external applied load is applied to the end of the micro- apparatus finger forceps of operation with power detection function, when clamping object state can be achieved
Demarcation and different angles carry out power detection demarcation, can also realize static demarcating and dynamic calibration.
With reference to accompanying drawing 4, the present invention is a kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation, and testing agency is main
Including linear displacement transducer 15 and sensor support platform 14, linear displacement transducer sliding block 15-1 upper surfaces and guide rail beam 6
Lower surface is coupled by bolt, and guide rail beam 6 drives linear displacement transducer sliding block 15-1 when being moved along guide rail
Motion, linear displacement transducer matrix 15-2 is fixed on sensor support platform 14 by connection component, so as to realize straight-line displacement
Sensor detects the actual displacement of micro- apparatus push rod 20 in real time, and then detects the folding angle of finger forceps.
The present invention includes mounting platform, drive mechanism, transmission mechanism, linkage and testing agency.Drive mechanism is main
It is made up of linear stepping motor and retaining element, linear stepping motor couples with motor fixing frame, motor fixing frame and motor branch
Support platform is fixed by four bolts；Transmission mechanism includes two identical cylindrical linear rails, and two cylindrical linear rails pass through
Guide rail beam is coupled, and cylindrical guide is arranged on guide supporting platform by bolt, symmetrical along motor axis of spindle；Even
Linkage refers mainly to micro- apparatus of performing the operation, and linear stepping motor above guide rail beam by motor contact with being connected, and micro- apparatus is pushed away
Bar is connected below guide rail beam, and three parts are coupled by identical bolt, and push rod passes through with finger forceps rotating connector
Pin shaft joint, two panels finger forceps is connected also by bearing pin with finger forceps rotating connector, and micro- instrument catheter on the outside of push rod passes through
Vertical support seat is fixed on micro- apparatus fixed support, and conduit is supported by catheter carriage below, and catheter carriage is arranged on hand
On dynamic fine setting platform；Slide block of sensor above linear displacement transducer couples with guide rail beam, and sensor support is fixed on below
On platform, supporting table used is bolted on the mounting platform of the bottom.
Cylindrical linear rail includes；Line slideway and straight-line guide rail slide block, and support the use in pairs.
Micro- apparatus of performing the operation includes；Micro- apparatus push rod, micro- instrument catheter, pipe joint element, finger forceps rotating connector, two panels
Finger forceps and multiple bearing pins, two panels finger forceps is with pipe joint element by pin shaft joint, and conduit passes through interference with pipe joint element
Coordinate connection.
Claims (2)
1. a kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation, it is characterized in that：Including mounting platform, straight line stepping electricity
Machine, micro- apparatus of performing the operation, linear stepping motor are arranged on mounting platform by motor fixing frame, and first is fixed with mounting platform
Line slideway and second straight line guide rail, first straight line guide rail and second straight line guide rail are located at the both sides of motor fixing frame respectively, the
Set in one line slideway and second straight line guide rail slide block, first straight line are set in first straight line guide rail slide block, second straight line guide rail
Guide rail beam is fixed on guide rail slide block and second straight line guide rail slide block, the output shaft of linear stepping motor is connected by motor contact
Guide rail beam is connect, the micro- apparatus of operation includes micro- apparatus push rod, micro- instrument catheter, and micro- apparatus push rod stretches to micro- instrument catheter
In, micro- apparatus push rod output end installs the first finger forceps rotating connector, second finger pincers rotating connector, and the first finger forceps turns
Follower link connects the first finger forceps, second finger pincers rotating connector connection second finger pincers, the first finger forceps and second-hand
Refer to pincers arranged in a crossed manner, finger forceps rotating pin is installed in infall, micro- instrument catheter connecting conduit connector, pipe joint element leads to
Cross the outside that finger forceps rotating pin is clamped installed in the first finger forceps and second finger, the input connection motor of micro- apparatus push rod
Micro- apparatus fixed support is set on connector and guide rail beam, mounting platform, and micro- instrument catheter is arranged on by vertical support seat
On micro- apparatus fixed support；
Linear displacement transducer matrix, guide rail beam are installed on install sensor supporting table on mounting platform, sensor support platform
Linear displacement transducer sliding block is installed in lower section, and linear displacement transducer sliding block is arranged in linear displacement transducer matrix.
2. a kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation according to claim 1, it is characterized in that：Install
Installed on platform on the sliding block for being provided with manual fine-tuning platform, manual fine-tuning platform and installing and coordinating with it outside leading screw, leading screw, sliding block
It is fixed with the middle part of guide rail bracket, micro- instrument catheter and is arranged on guide rail bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510696739.5A CN105193508B (en) | 2015-10-23 | 2015-10-23 | A kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510696739.5A CN105193508B (en) | 2015-10-23 | 2015-10-23 | A kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105193508A CN105193508A (en) | 2015-12-30 |
| CN105193508B true CN105193508B (en) | 2017-10-27 |
Family
ID=54941733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510696739.5A Expired - Fee Related CN105193508B (en) | 2015-10-23 | 2015-10-23 | A kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105193508B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105486340B (en) * | 2016-01-27 | 2017-11-24 | 苏州索亚机器人技术有限公司 | A kind of multi-functional finger transducer calibration frock |
| CN105954129B (en) * | 2016-07-04 | 2018-11-20 | 湖南瀚德微创医疗科技有限公司 | A kind of fatigue property test device of surgical forceps for abdominoscope |
| CN113384350B (en) * | 2021-06-17 | 2022-07-22 | 北京航空航天大学 | Ophthalmic surgical robotic system with vision guidance and micro-force perception capabilities |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5431645A (en) * | 1990-05-10 | 1995-07-11 | Symbiosis Corporation | Remotely activated endoscopic tools such as endoscopic biopsy forceps |
| CN101561334B (en) * | 2009-05-15 | 2011-02-02 | 天津大学 | Method for calibrating three-dimensional micro-touch force sensor |
| CN101702277B (en) * | 2009-09-14 | 2011-05-04 | 上海交通大学 | Virtual and artificial force feedback surgical instrument |
| CN102607767A (en) * | 2012-04-17 | 2012-07-25 | 苏州龙盛测试设备有限公司 | Calibration device for multi-component sensor |
| CN103126740B (en) * | 2013-03-15 | 2015-07-08 | 上海医疗器械（集团）有限公司手术器械厂 | Medical hemostatic device and clamping force detection system and calibration and measurement device and method |
| CN103196629B (en) * | 2013-03-30 | 2014-10-15 | 大连交通大学 | Six-dimensional sensor calibration device |
| CN103280145B (en) * | 2013-05-03 | 2016-01-13 | 上海交通大学 | Cardiovascular intervention virtual operation force feedback system |
| CN104771223B (en) * | 2014-01-10 | 2017-02-15 | 乐普（北京）医疗器械股份有限公司 | Renal artery ablation catheter robot pusher |
| CN103753519B (en) * | 2014-01-13 | 2016-07-06 | 东南大学 | Platform mechanism for the scaling method of the force feedback hand controlled device of Three Degree Of Freedom |
| CN103940539B (en) * | 2014-03-11 | 2016-01-27 | 哈尔滨工程大学 | Towards the test platform of the micro-apparatus holding force of surgical operation robot |
| CN103976766B (en) * | 2014-05-16 | 2016-03-30 | 天津理工大学 | A kind of principal and subordinate's interventional surgery aid system |
| CN205198137U (en) * | 2015-10-23 | 2016-05-04 | 哈尔滨工程大学 | Can be used to laboratory bench that three -dimensional power of little apparatus of operation was markd |
-
2015
- 2015-10-23 CN CN201510696739.5A patent/CN105193508B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105193508A (en) | 2015-12-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3273897B1 (en) | Method and device for controlling a surgical mechatronic assistance system by means of a holding arm for medical purposes | |
| CN105193508B (en) | A kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation | |
| EP3995097B1 (en) | Smart support arm for head surgery with touch sensitive control | |
| CN109044533B (en) | Minimally invasive interventional operation robot for urinary surgery | |
| CN106983560A (en) | Soft lens operation robotic system | |
| CN101261781B (en) | Five-freedom degree force feedback virtual operation instrument | |
| CN101455609B (en) | Exoskeleton mechanism based on parallelogram connection-rod and wire rope | |
| DE102014016823B4 (en) | A method of controlling a mechatronic assistance system coupled to a support arm | |
| CN105662588A (en) | Master-slave minimally invasive vascular interventional surgery remote operation system | |
| CN107744406A (en) | A kind of robot manipulation's platform and its operating method | |
| CN100463773C (en) | Numerical control pipe fitting assembly machine | |
| DE102014016824B4 (en) | Intelligent holding arm for head surgery with touch-sensitive operation | |
| CN103976766A (en) | Master slave minimal invasive blood vessel interventional surgical assistant system | |
| CN103111998A (en) | Series-parallel-connection force-feedback remote-control manipulator | |
| CN208989133U (en) | A kind of robot manipulation's platform | |
| CN112370164B (en) | Space series-parallel connection pelvis fracture reduction robot | |
| CN209137698U (en) | A kind of catheter controller | |
| CN107744616A (en) | A kind of catheter controller and its application method | |
| US9378662B2 (en) | Simplified spine testing device | |
| CN102462533B (en) | Mechanical arm for clamping propelling mechanism of minimally invasive blood vessel interventional surgery | |
| CN205198137U (en) | Can be used to laboratory bench that three -dimensional power of little apparatus of operation was markd | |
| CN108036809A (en) | A kind of high-precision curve is driven measuring system | |
| DE102014019752A1 (en) | Holding arm for medical purposes with two mechatronic interfaces | |
| CN107498185A (en) | Laser cutting system and laser cutting method | |
| CN104326032B (en) | Transformer station's high-tension line rising test multiple degrees of freedom operation car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171027 |