CN105380748A - Wire-driving three-freedom-degree surgical drill tool with force sensing function - Google Patents
Wire-driving three-freedom-degree surgical drill tool with force sensing function Download PDFInfo
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- CN105380748A CN105380748A CN201510960259.5A CN201510960259A CN105380748A CN 105380748 A CN105380748 A CN 105380748A CN 201510960259 A CN201510960259 A CN 201510960259A CN 105380748 A CN105380748 A CN 105380748A
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- surgical drill
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F11/00—Methods or devices for treatment of the ears or hearing sense; Non-electric hearing aids; Methods or devices for enabling ear patients to achieve auditory perception through physiological senses other than hearing sense; Protective devices for the ears, carried on the body or in the hand
- A61F11/20—Ear surgery
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- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Acoustics & Sound (AREA)
- Biophysics (AREA)
- Otolaryngology (AREA)
- Psychology (AREA)
- Surgery (AREA)
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- Heart & Thoracic Surgery (AREA)
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- Surgical Instruments (AREA)
Abstract
The invention discloses a wire-driving three-freedom-degree surgical drill tool with a force sensing function. The tool comprises a tail-end executor, a deflection mechanism, an elevation mechanism and an autorotation mechanism. The tail-end executor is composed of a surgical drill, a six-dimensional force sensor, drill side middleware and deflection side middleware. The deflection mechanism is composed of a deflection shaft and a bearing. The elevation mechanism is composed of an elevation shaft, a support frame, a guide wheel, a guide wheel support shaft and a bearing. The autorotation mechanism is composed of an elevation support frame, a carbon fiber tube and an autorotation rotating shaft. The deflection shaft, the elevation shaft and the autorotation shaft are driven by a wire to rotate, so that the surgical drill has the three freedom degrees of deflection, elevation and autorotation. The wire-driving three-freedom-degree surgical drill tool has the advantages that the structure is simple, master-slave mapping is visualized, the transmission precision is high, and the force sensing function is achieved.
Description
Technical field
The present invention relates to a kind of Three Degree Of Freedom surgical operation drill tools, particularly a kind of surgical operation drill tools transplanted for robot assisted artificial cochlea.
Background technology
Since twentieth century, surgical intervention paid attention to by countries in the world health organization always.Although various countries achieve very much progress in the quality and safety of surgical intervention, still there is hidden danger.Therefore, improve surgical quality and not only doctor is had higher requirement, and requirements at the higher level be it is also proposed to the design of operation tool, manufacture and assembling etc.
Existing Surigical tool mainly comprises scalpel, operating scissors, surgical forceps etc.Wherein, surgical drill is a kind of particular procedure instrument mainly for opening cranium art.Traditional surgical drill is only the perception relying on people, and the control accuracy in its dynamics and direction is not high.
Current mankind is microminiaturized to requirements of operation wound Wicresoft, apparatus, the degree of device intelligence and information digitalization is more and more higher, and the operating theater instruments that operation tool combines with robot becomes focus gradually.Within 1999, American I ntuitiveSurgical company develops DaVinci surgical operation robot system, be current unique business-like medical operating robot system, this surgical robot system is exactly on robot base, combine the operation tool that can complete a series of similar staff operational motion.The operation tool of the current overwhelming majority and the combination of robot are all using abdominal cavity as working environment, and for cranial cavity operation and cochlea implant operation, although applied pneumatic drill for craniotomy in brain tumor esection, in conjunction with this field, very large vacancy is also existed for surgical drill and existing robot system.
Summary of the invention
The object of the invention is to make up prior art deficiency, there is provided a kind of for robot assisted artificial cochlea transplant operation, meet work space requirement, ensure stable transmission, registration, structure is simple simultaneously, and cost is lower, meets the Three Degree Of Freedom silk transmission surgical operation drill tools that operation technique condition has power sensing function.
In order to achieve the above object, the technical solution adopted in the present invention is:
For the silk transmission Three Degree Of Freedom surgical operation drill tools with power sensing function that artificial cochlea transplants, it comprises end effector, deflection mechanism, luffing mechanism and free-wheeling system.
Described end effector comprises surgical drill, six-dimension force sensor, brill side middleware and deflection side middleware.Middleware one end, described brill side is connected with described six-dimension force sensor working side by screw, and the other end is connected with described surgical drill by holding screw, and described six-dimension force sensor fixation side is connected with described deflection side middleware by screw.
Described deflection mechanism is made up of yawing axis and bearing.Described yawing axis one end is connected with described deflection side middleware, and the other end is connected with described bearing inner race, and described bearing outer ring is connected with the bracing frame in described luffing mechanism.
Described luffing mechanism comprises pitch axis, bracing frame, directive wheel, directive wheel back shaft and bearing.Support frame as described above is L-type, one end is connected with the bearing outer ring in described deflection mechanism, for supporting described yawing axis, in the middle part of the other end, directive wheel back shaft described with two is connected, each described directive wheel back shaft installs two described directive wheels, other end top is connected with described bearing outer ring, and described bearing inner race is connected with described pitch axis, and described pitch axis two ends are connected with the pitching bracing frame in described free-wheeling system by bearing.
Described free-wheeling system is made up of pitching bracing frame, carbon fiber pipe and the axis of rotation.Described pitching bracing frame one end is connected with described bearing outer ring, and inner ring is connected with the pitch axis in described luffing mechanism.The described pitching bracing frame other end is connected with described carbon fiber pipe one end, and the described carbon fiber pipe other end is connected with the axis of rotation in quick change box, refers to invention disclosed patent ZL200910305201.1.
Described yawing axis, described pitch axis and the described axis of rotation move rotation by silk ribbon makes surgical drill have deflection, pitching and rotation three degree of freedom.
Tool of the present invention has the following advantages:
1. Three Degree Of Freedom surgical drill instrument of the present invention can be arranged on existing minimally-invasive surgery robot system and carry out work, extends the range of application of existing micro-wound operation robot;
2. Three Degree Of Freedom surgical drill instrument of the present invention has perception end force and moment ability;
3. Three Degree Of Freedom surgical drill instrument of the present invention adopts silk transmission, has structure simple, the advantages such as transmission accuracy is high, and backlass is little, accurate positioning;
4. after Three Degree Of Freedom surgical drill tool initialization of the present invention, drill bit, carbon fiber pipe are located on the same line, principal and subordinate's mapping intuitive, programming Control workable;
5. Three Degree Of Freedom surgical drill instrument highly versatile of the present invention, the surgical drill of fast changeable band angle, meets the situation in operation process, angle being had to requirement.
Accompanying drawing explanation
Fig. 1 is the silk transmission Three Degree Of Freedom surgical drill instrument overall structure schematic diagram of the power of having sensing function of the present invention;
Fig. 2 is Three Degree Of Freedom surgical drill instrument of the present invention and quick change box mounting structure schematic diagram;
Fig. 3 is the end effector structures schematic diagram in Three Degree Of Freedom surgical drill instrument of the present invention;
Fig. 4 is the deflection mechanism structural representation in Three Degree Of Freedom surgical drill instrument of the present invention;
Fig. 5 is the luffing mechanism structural representation in Three Degree Of Freedom surgical drill instrument of the present invention;
Fig. 6 is Three Degree Of Freedom surgical drill instrument silk transmission principle schematic diagram of the present invention.
Detailed description of the invention
Describe the present invention below in conjunction with concrete enforcement.
Fig. 1 is the silk transmission Three Degree Of Freedom surgical drill instrument overall structure schematic diagram of the power of having sensing function of the present invention, and it comprises end effector 1, deflection mechanism 2, luffing mechanism 3 and free-wheeling system 4.This surgical drill instrument has three freedom, is respectively deflection degree of freedom R1, pitch freedom R2 and rotation degree of freedom R3.
Fig. 2 is Three Degree Of Freedom surgical drill instrument of the present invention and quick change box mounting structure schematic diagram, operation tool of the present invention can be connected with quick change box 5, quick change box 5, as a kind of rapid replacing interface, derives from invention disclosed patent ZL200910305201.1, and surgical drill instrument versatility of the present invention is strengthened.
Fig. 3 is the end effector structures schematic diagram in Three Degree Of Freedom surgical drill instrument of the present invention, six-dimension force sensor 1-4 working side is connected with brill side middleware 1-5 by equally distributed screw 1-3-2, bores side middleware 1-5 and is connected with surgical drill 1-1 by holding screw 1-6.Six-dimension force sensor 1-4 fixation side is connected with deflection side middleware 1-2 by equally distributed screw 1-3-1.
Fig. 4 is the deflection mechanism structural representation in Three Degree Of Freedom surgical drill instrument of the present invention, deflection side middleware 1-2 and yawing axis 2-1 is connected by the unsymmetry of axle, the inner ring of bearing 2-2 with 2-3 is connected with yawing axis 2-1, outer ring is connected with L-type bracing frame 3-2, jump ring 2-4 is stuck in the inner ring realizing bearing 2-2 and 2-3 in the groove of yawing axis 2-1 with the shaft shoulder of yawing axis 2-1 and locates, ring flange 2-5 is connected with L-type bracing frame 3-2 by four screw 2-6, and the outer ring that in ring flange 2-5 and L-type bracing frame 3-2 mesopore, boss realizes bearing 2-2 and 2-3 is located.Silk C1-1 and C1-2 termination and yawing axis 2-1 connected mode are as shown in cross section A-A, and silk termination knotting injecting glue, this kind of solid silk mode is simple and reliable for structure and can realize unidirectional corner and be greater than 90 degree of functions, and silk C1-1 and C1-2 combines and can realize deflecting degree of freedom R1.
Fig. 5 is the luffing mechanism structural representation in Three Degree Of Freedom surgical drill instrument of the present invention, pitch axis 3-1 relies on the unsymmetry of itself axle and L-type bracing frame 3-2 to be connected, location shaping piece 3-5-1 with 3-5-2 lays respectively at the both sides of axle and contacts with L-type bracing frame 3-2, bearing 3-4-1 is connected with pitch axis 3-1 with 3-4-2 inner ring, outer ring is connected with pitching bracing frame 4-2, jump ring 3-3-1 and 3-3-2 is stuck in the groove in pitch axis 3-1, realize bearing 3-4-1 and 3-4-2 inner ring location, in pitching bracing frame 4-2 hole, boss realizes bearing 3-4-1 and location, 3-4-2 outer ring, silk C2-1 and C2-2 motion drives pitch axis 3-1 to rotate around pitching bracing frame 4-2 and realizes pitch freedom R2, directive wheel 3-6-2, 3-6-3 and directive wheel 3-7-2, 3-7-3 is arranged on directive wheel back shaft 3-6-1 and 3-7-1 respectively, directive wheel back shaft 3-6-1 with 3-7-1 is connected with L-type bracing frame 3-2.Silk C1-1 with C1-2 contacts with pitch axis 3-1 with directive wheel 3-7-2 with 3-7-3 through directive wheel 3-6-2,3-6-3 with S type respectively, enters carbon fiber pipe 4-1 by pitching bracing frame 4-2 mesopore, after enter in quick change box 5.
Fig. 6 is Three Degree Of Freedom surgical drill instrument silk transmission principle schematic diagram of the present invention, wherein, deflection degree of freedom R1 transmission principle: the one ends wound of silk C1-1 and C1-2 is on yawing axis 2-1, the other end is wrapped in and is arranged on the motor shaft 5-3-1 of quick change box 5, C1-1 and C1-2 forms a closed-loop path, motor M 1 drives C1-1 and C1-2 to carry out tractive motion thus yawing axis 2-1 is rotated relative to L-type support bar 3-2, the end effector 1 being positioned at yawing axis one end rotates thereupon, makes this operation tool have deflection degree of freedom.Pitch freedom R2 realizes principle: the one ends wound of silk C2-1 and C2-2 is in pitch axis 3-1, the other end is wound on the motor shaft 5-4-1 that is connected with motor M 2, C2-1 and C2-2 forms closed-loop path equally, pitch axis 3-1 is vertical with carbon fiber pipe 4-1, C2-1 and C2-2 directly enters carbon fiber pipe 4-1 without directive wheel, after enter quick change box 5 and be fixed on motor shaft 5-4-1 through directive wheel 5-2-2 and 5-2-3, motor M 2 drives steel wire rope C2-1 and C2-2 to carry out tractive motion and then makes pitch axis 3-1 rotate relative to carbon fiber pipe 4-1, complete operation tool pitch freedom.Rotation degree of freedom R3 realizes principle: the one ends wound of silk C3-1 and C3-2 is in axis of rotation 4-3, the other end is wound on the motor shaft 6-5-1 that is connected with motor M 3, therebetween without any guiding, axis of rotation 4-3 and carbon fiber pipe 4-1 is connected, motor M 3 is with movable wire C3-1 and C3-2 to carry out tractive motion and is made the overall rotation of operation tool, completes operation tool rotation degree of freedom.
Claims (4)
1. there is a silk transmission Three Degree Of Freedom surgical drill instrument for power sensing function, it is characterized in that: mainly comprise end effector, deflection mechanism, luffing mechanism and free-wheeling system.End effector is made up of surgical drill, six-dimension force sensor, brill side middleware and deflection side middleware.Deflection mechanism is primarily of yawing axis and bearing composition.Luffing mechanism is made up of pitch axis, bracing frame, directive wheel, directive wheel back shaft and bearing.Free-wheeling system is made up of pitching bracing frame, carbon fiber pipe and rotation rotating shaft.Moving the rotation of yawing axis, pitch axis and the axis of rotation by silk ribbon makes surgical drill have deflection, pitching and rotation three degree of freedom.
2. according to the silk transmission Three Degree Of Freedom surgical drill instrument of a kind of power of having sensing function according to claim 1, it is characterized in that: described pitching bracing frame l-shaped, one end supports yawing axis, and the other end is connected with described pitch axis.
3. according to the silk transmission Three Degree Of Freedom surgical drill instrument of a kind of power of having sensing function according to claim 1, it is characterized in that: in described end effector, surgical drill is connected with six-dimension force sensor working side by boring side middleware, deflection middleware one end, side is connected with the another fixation side of six-dimension force sensor, and the deflection side middleware other end is connected with yawing axis.
4., according to the silk transmission Three Degree Of Freedom surgical drill instrument of a kind of power of having sensing function according to claim 1, it is characterized in that: described yawing axis, in pitch axis, tool has driving wire groove, has T-shaped hole in silk groove, for fixing silk termination and transmitting torque.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510960259.5A CN105380748B (en) | 2015-12-17 | 2015-12-17 | A kind of silk transmission Three Degree Of Freedom operation drill tools with power sensing function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510960259.5A CN105380748B (en) | 2015-12-17 | 2015-12-17 | A kind of silk transmission Three Degree Of Freedom operation drill tools with power sensing function |
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| Publication Number | Publication Date |
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| CN105380748A true CN105380748A (en) | 2016-03-09 |
| CN105380748B CN105380748B (en) | 2017-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510960259.5A Expired - Fee Related CN105380748B (en) | 2015-12-17 | 2015-12-17 | A kind of silk transmission Three Degree Of Freedom operation drill tools with power sensing function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112472296A (en) * | 2020-11-25 | 2021-03-12 | 武汉联影智融医疗科技有限公司 | Series motion mechanism, surgical instrument control mechanism and handheld surgical device |
| CN113100851A (en) * | 2021-04-29 | 2021-07-13 | 武汉联影智融医疗科技有限公司 | Control handle and stitching instrument |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1730245A (en) * | 2005-08-04 | 2006-02-08 | 天津大学 | Accessory manipulation of throat surgery robot |
| CN101340850A (en) * | 2005-12-30 | 2009-01-07 | 直观外科手术公司 | Force and torque sensing for surgical instruments |
| CN101443162A (en) * | 2006-02-03 | 2009-05-27 | 欧洲原子能共同体由欧洲委员会代表 | Robotic surgical system for performing minimally invasive medical procedures |
| CN103552088A (en) * | 2013-10-12 | 2014-02-05 | 杨兆奎 | Mechanical wrist |
| WO2015057990A1 (en) * | 2013-10-18 | 2015-04-23 | Intuitive Surgical Operations, Inc. | Wrist mechanism for surgical instrument |
-
2015
- 2015-12-17 CN CN201510960259.5A patent/CN105380748B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1730245A (en) * | 2005-08-04 | 2006-02-08 | 天津大学 | Accessory manipulation of throat surgery robot |
| CN101340850A (en) * | 2005-12-30 | 2009-01-07 | 直观外科手术公司 | Force and torque sensing for surgical instruments |
| CN101443162A (en) * | 2006-02-03 | 2009-05-27 | 欧洲原子能共同体由欧洲委员会代表 | Robotic surgical system for performing minimally invasive medical procedures |
| CN103552088A (en) * | 2013-10-12 | 2014-02-05 | 杨兆奎 | Mechanical wrist |
| WO2015057990A1 (en) * | 2013-10-18 | 2015-04-23 | Intuitive Surgical Operations, Inc. | Wrist mechanism for surgical instrument |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112472296A (en) * | 2020-11-25 | 2021-03-12 | 武汉联影智融医疗科技有限公司 | Series motion mechanism, surgical instrument control mechanism and handheld surgical device |
| CN113100851A (en) * | 2021-04-29 | 2021-07-13 | 武汉联影智融医疗科技有限公司 | Control handle and stitching instrument |
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| CN105380748B (en) | 2017-11-17 |
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Granted publication date: 20171117 Termination date: 20201217 |