CN105380748B - A kind of silk transmission Three Degree Of Freedom operation drill tools with power sensing function - Google Patents
A kind of silk transmission Three Degree Of Freedom operation drill tools with power sensing function Download PDFInfo
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- CN105380748B CN105380748B CN201510960259.5A CN201510960259A CN105380748B CN 105380748 B CN105380748 B CN 105380748B CN 201510960259 A CN201510960259 A CN 201510960259A CN 105380748 B CN105380748 B CN 105380748B
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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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- 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 kind of silk transmission Three Degree Of Freedom operation drill tools with power sensing function, it includes 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 made up of yawing axis and bearing.Luffing mechanism is made up of pitch axis, support frame, directive wheel, directive wheel support shaft and bearing.Free-wheeling system is made up of pitching support frame, carbon fiber pipe and rotation rotary shaft.Moving yawing axis, pitch axis and the axis of rotation by silk ribbon and rotate makes surgical drill have deflection, pitching and rotation three degree of freedom.The present invention has simple in construction, principal and subordinate's mapping intuitive, high transmission accuracy and has the advantages that power sensing function.
Description
Technical field
It is more particularly to a kind of to be used for robot assisted artitificial ear the present invention relates to a kind of Three Degree Of Freedom surgical operation drill tools
The surgical operation drill tools of snail transplanting.
Background technology
Since twentieth century, surgical intervention is paid attention to by countries in the world health organization always.Various countries are in surgical intervention
Although being had made great progress in terms of quality and security, hidden danger still be present.Therefore, surgical quality is improved not only to doctor
Higher requirement is proposed, and design, manufacture and assembling to operation tool etc. it is also proposed requirements at the higher level.
Existing Surigical tool mainly includes scalpel, operating scissors, surgical forceps etc..Wherein, surgical drill is main pin
A kind of particular procedure instrument of split cranium art.Traditional surgical drill is only by the perception of people, the control in its dynamics and direction
Precision is not high.
Current mankind requires operation the degree of wound minimally invasiveization, apparatus miniaturization, device intelligence and information digitalization
More and more higher, operation tool are increasingly becoming focus with the operating theater instruments that robot is combined.U.S. Intuitive in 1999
Surgical companies develop Da Vinci surgical operation robot systems, are currently the only commercialized medical operating robots
System, the surgical robot system be exactly on robot base combination can complete a series of operation of similar human hand operational motions
Instrument.The combination of current most of operation tool and robot is all using abdominal cavity as working environment, and for cranial cavity hand
Art and cochlea implant operation for, although having applied pneumatic craniotomy drill in brain tumor esection, for surgical drill with
Very big vacancy also be present in this field of the combination of existing robot system.
The content of the invention
It is an object of the invention to make up prior art deficiency, there is provided one kind is used for robot assisted artificial cochlea and transplants hand
Art, meets working space requirement, ensures stable transmission, registration, while simple in construction, and cost is relatively low, meets operation technique
Condition has the Three Degree Of Freedom silk transmission surgical operation drill tools of power sensing function.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of transmission Three Degree Of Freedom surgical operation drill tools of the silk with power sensing function for artificial cochlea's transplanting, it
Including end effector, deflection mechanism, luffing mechanism and free-wheeling system.
The end effector includes surgical drill, six-dimension force sensor, bores side middleware and deflection side middleware.Institute
State and bore side middleware one end and be connected by screw with the six-dimension force sensor active side, the other end passes through holding screw and described
Surgical drill be connected, the six-dimension force sensor affixed side by screw with it is described deflection side middleware be connected.
The deflection mechanism is made up of yawing axis and bearing.Described yawing axis one end and the deflection side middleware phase
Even, the other end is connected with the bearing inner race, and the bearing outer ring is connected with the support frame in the luffing mechanism.
The luffing mechanism includes pitch axis, support frame, directive wheel, directive wheel support shaft and bearing.Support frame as described above is in L
Type, one end are connected with the bearing outer ring in the deflection mechanism, for supporting the yawing axis, in the middle part of the other end with described in two
Directive wheel support shaft is connected, and two directive wheels, other end top and the axle are installed in each directive wheel support shaft
Bearing outer-ring is connected, and the bearing inner race is connected with the pitch axis, and the pitch axis both ends pass through bearing and the free-wheeling system
In pitching support frame be connected.
The free-wheeling system is made up of pitching support frame, carbon fiber pipe and the axis of rotation.Described pitching support frame one end and institute
State bearing outer ring to be connected, inner ring is connected with the pitch axis in the luffing mechanism.The pitching support frame other end and the carbon
Fibre pipe one end is connected, and the carbon fiber pipe other end is connected with the axis of rotation in quick change box, refers to invention disclosed patent
ZL200910305201.1。
The yawing axis, the pitch axis and the axis of rotation make surgical drill have deflection, pitching by the way that silk ribbon turn is dynamic
With rotation three degree of freedom.
The invention has the advantages that：
It is operated 1. Three Degree Of Freedom operation drill tools of the present invention can be arranged on existing minimally-invasive surgery robot system,
Extend the application of existing micro-wound operation robot；
2. Three Degree Of Freedom operation drill tools of the present invention, which have, perceives end power and moment capacity；
3. Three Degree Of Freedom operation drill tools of the present invention are driven using silk, there is simple in construction, high transmission accuracy, backlass
It is small, the advantages that accurate positioning；
4. drill bit, carbon fiber pipe are located on the same line after Three Degree Of Freedom surgical drill tool initialization of the present invention, principal and subordinate
Mapping intuitive, programming Control it is workable；
5. Three Degree Of Freedom operation drill tools of the present invention are versatile, surgical drill of the fast changeable with angle, meet
Situation about being required in surgical procedure to angle.
Brief description of the drawings
The silk with power sensing function that Fig. 1 is the present invention is driven Three Degree Of Freedom operation drill tools overall structure diagram；
Fig. 2 is Three Degree Of Freedom of the present invention operation drill tools and quick change box mounting structure schematic diagram；
Fig. 3 is the end effector structures schematic diagram in Three Degree Of Freedom of the present invention operation drill tools；
Fig. 4 is the deflection mechanism structural representation in Three Degree Of Freedom of the present invention operation drill tools；
Fig. 5 is the luffing mechanism structural representation in Three Degree Of Freedom of the present invention operation drill tools；
Fig. 6 is Three Degree Of Freedom of the present invention operation drill tools silk transmission principle schematic diagram.
Embodiment
With reference to specific implementation, the present invention will be described in detail.
The silk with power sensing function that Fig. 1 is the present invention is driven Three Degree Of Freedom operation drill tools overall structure diagram,
It includes end effector 1, deflection mechanism 2, luffing mechanism 3 and free-wheeling system 4.The operation drill tools have three freedom, point
Free degree R1, pitch freedom R2 and rotation free degree R3 Wei not deflected.
Fig. 2 is Three Degree Of Freedom of the present invention operation drill tools and quick change box mounting structure schematic diagram, operation tool energy of the present invention
It is connected with quick change box 5, quick change box 5 is used as a kind of rapid replacing interface, from invention disclosed patent ZL200910305201.1, makes
Present invention operation drill tools versatility enhancing.
Fig. 3 be Three Degree Of Freedom of the present invention perform the operation drill tools in end effector structures schematic diagram, six-dimension force sensor 1-4
Active side is connected by equally distributed screw 1-3-2 with boring side middleware 1-5, is bored side middleware 1-5 and is passed through holding screw 1-6
It is connected with surgical drill 1-1.Six-dimension force sensor 1-4 affixed sides are by equally distributed screw 1-3-1 with deflecting among side
Part 1-2 connections.
Fig. 4 be Three Degree Of Freedom of the present invention perform the operation drill tools in deflection mechanism structural representation, deflection side middleware 1-2 with
Yawing axis 2-1 is connected by the asymmetry of axle, and bearing 2-2 is connected with 2-3 inner ring with yawing axis 2-1, outer ring and L-type support
Frame 3-2 is connected, and jump ring 2-4 is stuck in the inner ring for realizing bearing 2-2 and 2-3 in yawing axis 2-1 groove with the yawing axis 2-1 shaft shoulder
Positioning, ring flange 2-5 are connected by four screw 2-6 with L-type support frame 3-2, in ring flange 2-5 and L-type support frame 3-2 mesopores
Boss realizes bearing 2-2 and 2-3 outer ring positioning.Silk C1-1 and C1-2 terminations and yawing axis 2-1 connected modes such as cross section A-A institute
Show, silk termination knotting injecting glue, this kind of solid silk mode is simple and reliable for structure and can realize that unidirectional corner is more than 90 degree of functions, silk
C1-1 and C1-2, which is combined, can be achieved deflection free degree R1.
Fig. 5 is the luffing mechanism structural representation in Three Degree Of Freedom of the present invention operation drill tools, and pitch axis 3-1 relies on it
The asymmetry of body axle is connected with L-type support frame 3-2, and positioning spacer 3-5-1 and 3-5-2 are respectively positioned at the both sides of axle and and L
Type support frame 3-2 is contacted, and bearing 3-4-1 and 3-4-2 inner ring are connected with pitch axis 3-1, and outer ring is connected with pitching support frame 4-2,
Jump ring 3-3-1 and 3-3-2 are stuck in the groove in pitch axis 3-1, realize that bearing 3-4-1 and 3-4-2 inner ring position, pitching
In support frame 4-2 holes boss realize bearing 3-4-1 and 3-4-2 outer rings position, silk C2-1 and C2-2 motion drive pitch axis 3-1 around
Pitching support frame 4-2 is rotated and is realized pitch freedom R2, and directive wheel 3-6-2,3-6-3 and directive wheel 3-7-2,3-7-3 pacify respectively
On directive wheel support shaft 3-6-1 and 3-7-1, directive wheel support shaft 3-6-1 and 3-7-1 is connected with L-type support frame 3-2.Silk
C1-1 and C1-2 is connect by directive wheel 3-6-2,3-6-3 and directive wheel 3-7-2 and 3-7-3 and with pitch axis 3-1 with S types respectively
Touch, carbon fiber pipe 4-1 is entered by pitching support frame 4-2 mesopores, enter afterwards in quick change box 5.
Fig. 6 is Three Degree Of Freedom of the present invention operation drill tools silk transmission principle schematic diagram, wherein, the R1 transmissions of the deflection free degree are former
Reason：For silk C1-1 and C1-2 one ends wound on yawing axis 2-1, the other end is wrapped in the motor shaft 5-3-1 in quick change box 5
On, C1-1 and C1-2 form a closed-loop path, and motor M1 drives C1-1 and C1-2 pull motion so that yawing axis 2-1
Rotated relative to L-type support bar 3-2, the concomitant rotation of end effector 1 positioned at yawing axis one end, there is the operation tool inclined
Turn the free degree.Pitch freedom R2 realization principles：Silk C2-1 and C2-2 one ends wound is wound in pitch axis 3-1, the other end
On the motor shaft 5-4-1 being connected with motor M2, C2-1 and C2-2 are similarly formed closed-loop path, pitch axis 3-1 and carbon fiber pipe 4-1
Vertically, C2-1 and C2-2 is directly entered carbon fiber pipe 4-1 without directive wheel, enters quick change box 5 afterwards through directive wheel 5-2-2 and 5-
2-3 is fixed on motor shaft 5-4-1, and motor M2, which drives steel wire rope C2-1 and C2-2 to carry out drawing motion, then makes pitch axis 3-1 phases
Rotated for carbon fiber pipe 4-1, complete operation tool pitch freedom.Rotation free degree R3 realization principles：Silk C3-1 and C3-2
One ends wound in axis of rotation 4-3, the other end is wound on the motor shaft 6-5-1 being connected with motor M3, therebetween without any
It is oriented to, axis of rotation 4-3 is connected with carbon fiber pipe 4-1, and motor M3, which drives silk C3-1 and C3-2 to carry out drawing motion, makes operation tool
Overall rotation, complete the operation tool rotation free degree.
Claims (4)
- A kind of 1. silk transmission Three Degree Of Freedom operation drill tools with power sensing function, it is characterised in that：Including end effector, Deflection mechanism, luffing mechanism and free-wheeling system；End effector by surgical drill, six-dimension force sensor, bore side middleware and Deflect side middleware composition；Deflection mechanism is made up of yawing axis and bearing；Luffing mechanism by pitch axis, support frame, directive wheel, lead To wheel support shaft and bearing composition；Free-wheeling system is made up of pitching support frame, carbon fiber pipe and rotation rotary shaft；Moved by silk ribbon Yawing axis, pitch axis and the axis of rotation, which rotate, makes surgical drill have deflection, pitching and rotation three degree of freedom.
- 2. according to a kind of silk transmission Three Degree Of Freedom operation drill tools with power sensing function described in claim 1, its feature It is：Described pitching support frame l-shaped, one end support yawing axis, the other end are connected with the pitch axis.
- 3. according to a kind of silk transmission Three Degree Of Freedom operation drill tools with power sensing function described in claim 1, its feature It is：In the end effector, surgical drill is connected by boring side middleware with six-dimension force sensor active side, deflects side Middleware one end is connected with six-dimension force sensor affixed side, and the deflection side middleware other end is connected with yawing axis.
- 4. according to a kind of silk transmission Three Degree Of Freedom operation drill tools with power sensing function described in claim 1, its feature It is：Described yawing axis, driving wire groove is provided with pitch axis, T-shaped hole is provided with silk groove, for fixing silk termination and transmission Moment of torsion.
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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
|---|---|
| CN105380748A CN105380748A (en) | 2016-03-09 |
| CN105380748B true CN105380748B (en) | 2017-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112472296B (en) * | 2020-11-25 | 2022-03-08 | 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 |
| CN113100851B (en) * | 2021-04-29 | 2022-06-03 | 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 |
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| CN105380748A (en) | 2016-03-09 |
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