CN105380749B - A kind of wire rope gearing omnidirectional mechanism for surgical drill - Google Patents
A kind of wire rope gearing omnidirectional mechanism for surgical drill Download PDFInfo
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- CN105380749B CN105380749B CN201510960537.7A CN201510960537A CN105380749B CN 105380749 B CN105380749 B CN 105380749B CN 201510960537 A CN201510960537 A CN 201510960537A CN 105380749 B CN105380749 B CN 105380749B
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- wire rope
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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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- Otolaryngology (AREA)
- Psychology (AREA)
- Surgery (AREA)
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- Heart & Thoracic Surgery (AREA)
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Abstract
The invention discloses a kind of wire rope gearing omnidirectional mechanism for surgical drill, including deflection mechanism, luffing mechanism and the part of wire rope gearing system three, the deflection mechanism is made up of yawing axis, driving wheel, directive wheel, pitching frame and deflection cylinder etc., luffing mechanism is mainly made up of pitch axis, driving wheel, pitching frame, wrist joint frame and tube etc., and wire rope gearing system is made up of driving wheel, directive wheel, guide wheel shaft and guiding wheel carrier.The omnidirectional mechanism has three degree of freedom, the characteristics of meeting at some with three axles, can imitate list action and drive end effector mechanism to be swung, and realizes simple to operate flexible, reliable accurate；The wire rope gearing system is using the intersecting scheme of bilateral wire, antarafacial, the problems such as efficiently solving that the wire that unilateral wire brings is complicated, interfere.Mechanism of the present invention has the advantages that Stability Analysis of Structures is reliable, controls precision without hysterisis error, transmission efficiency.
Description
Technical field
The present invention relates to a kind of wire rope gearing omnidirectional mechanism, more particularly to a kind of steel wire rope for surgical drill is passed
Dynamic omnidirectional mechanism.
Background technology
In traditional surgery operation, the hand-held operating theater instruments of doctor goes to be performed the operation by the perception of oneself and experience,
Due to psychology or physiology, doctor's hand can be shaken, and may thus bring operational error, gently then cause operation to be lost
Lose, life that is heavy then jeopardizing patient.For example artificial cochlea's spare-part surgery operation in, surgical drill when being drilled, if because
Cause positioning inaccurate for hand shake, when tip is close to inner ear cartilaginous tissue, interior ear-drum etc. may be bored brokenly.Accordingly, it would be desirable to open
The surgical operation drill tools for sending out robot assisted a kind of, for improving positioning precision, to reduce the shake of doctor's hand physiology, and then
Improve surgical quality.
Existing surgical operation robot active part generally has three degree of freedom in location, and operating theater instruments has three or four
The free degree, by being controlled to complete surgical operation assigned tasks to the motion in these frees degree, such as sutures and knots.It is right
For most of surgical operating instruments, the motion control of two frees degree of pitching and deflection is real using two antarafacial joints
Existing, this is resulted in, and joint arm is long, and the particularity of surgical drill --- the length of the bit is longer in addition, if using similar
Structure will cause connecting rod elongated, and the distance between joint increases the accumulated error of end effector mechanism position, and joint is in fortune
When dynamic, interference can be produced with other auxiliary robots, the presence of joint arm also reduces the position stiffness of end effector.
The operating theater instruments kind of drive both at home and abroad for surgical operation robot mainly has bar transmission and steel wire rope to pass at present
Dynamic two methods.The drive mechanism of bar transmission is complicated, and precision is poor, and overall dimensions are larger.Compared with bar is driven, wire rope gearing
Technology has following features：First, motion and power can be transmitted over long distances, and driving part is mounted remotely from joint position
Place, makes mechanism compacter；Second, wire rope gearing can change transmission direction by directive wheel, and the kind of drive is simple, especially
It is adapted to multivariant layout in the confined space；3rd, appropriate pretightning force can eliminate hysterisis error, while the suction of steel wire rope
Shake effect can make surgical operating instrument obtain more smoothly motion.Because wire rope gearing has above-mentioned advantage, therefore make steel
Application of the cord transmission in operating theater instruments is more exposed to favor.
The content of the invention
It is an object of the invention to provide a kind of multiple degrees of freedom is coplanar, gimbal function can be realized, can with Stability Analysis of Structures
Lean on, control the wire rope gearing omnidirectional mechanism for surgical drill for the advantages of precision is without hysterisis error, transmission efficiency.
In order to achieve the above object, the technical solution adopted in the present invention is as follows：
A kind of wire rope gearing omnidirectional mechanism for surgical drill includes deflection mechanism, luffing mechanism and steel wire rope and passed
The dynamic part of system three.Deflection mechanism central shaft intersects vertically with luffing mechanism central shaft in approximately the same plane, wire rope gearing
System provides power transmission and motion transmission for it.
The deflection mechanism front end connects surgical electric drill, and rear end is connected with this patent mechanism, mainly by yawing axis, driving
The compositions such as wheel, directive wheel, bearing, check ring, pitching frame and deflection cylinder.One end of the deflection cylinder and yawing axis, which is fixed, to be connected
Connect, the yawing axis middle part is connected with bearing fit, the pitching frame of the bearing and luffing mechanism is connected, and by bullet
Spring back-up ring is positioned, and the yawing axis other end is connected with driving wheel, and the driving wheel is positioned by check ring.
The luffing mechanism is mainly made up of pitch axis, driving wheel, pitching frame, wrist joint frame and tube etc..The pitching
Device front end is connected with this patent mechanism, and rear end is connected with existing patent rapid replacing interface mechanism, refers to invention disclosed patent
ZL200910305201.1.Described pitch axis one end is fixedly connected with pitching frame, and the other end is connected with bearing fit, the bearing
It is connected, and is positioned by check ring with wrist joint frame, the pitch axis middle part coordinates with directive wheel connect respectively
Connect, be fixedly connected with driving wheel.
The wire rope gearing system is mainly made up of steel wire rope, driving wheel and directive wheel etc..Wire rope gearing system is adopted
With the mode of both sides wire, two steel wire ropes control one degree of freedom, are respectively distributed to mechanism both sides.Every steel wire rope is from driving
Take turns in connecting hole and draw, bypass half-turn, the guiding through directive wheel enters tube along wrist joint arm, antarafacial intersects inside tube
Introduce rapid replacing interface mechanism.
The invention has the advantages that：
1. the present invention can realize three-degree-of-freedom motion, wherein pitching and deflection two frees degree vertical phase in a plane
Hand over, handed over the axis congruence of the rotation free degree three, with human hand bionics feature, operation is flexibly, conveniently.
2. two frees degree of pitching of the present invention and deflection intersect vertically in one plane, joint is changed into simultaneously from joint series connection
Connection, reduces the accumulated error of end effector mechanism, while improving the end poing rigidity of surgical drill apparatus.
The axle connection 3. present invention use double square structure is nested, Stability Analysis of Structures is reliable, can bear bigger power and torque,
The shake of operating theater instruments end when reducing work.
4. the present invention uses wire rope gearing, appropriate pretightning force is imposed, hysterisis error can be eliminated, while the suction of steel wire rope
Shake effect can make surgical operating instrument obtain more smoothly motion.
5. the present invention uses both sides wire scheme, every two steel wire ropes control one degree of freedom, respectively along wrist joint arm
Into tube connection power interface part, the problems such as wire that unilateral wire is brought is complicated and interferes can effectively solve the problem that.
Brief description of the drawings
Fig. 1 is that omnidirectional mechanism of the present invention is applied to overall structure diagram in surgical drill；
Fig. 2 is omnidirectional mechanism structural representation of the present invention；
Fig. 3 is that omnidirectional mechanism of the present invention deflects joint exploded view；
Fig. 4 is omnidirectional mechanism pitching joint exploded view of the present invention；
Fig. 5 is omnidirectional mechanism of the present invention silk transmission principle figure；
Fig. 6 is omnidirectional mechanism structure sectional view of the present invention；
Fig. 7 is omnidirectional mechanism driving wheel sectional view of the present invention.
Embodiment
With reference to specific embodiment, the present invention will be described in detail.
The present invention is a kind of wire rope gearing omnidirectional mechanism for surgical drill, for solving surgery under small space
Surgical drill robot end executing agency multiple degrees of freedom problem.
As shown in Figure 1 overall structure diagram, omnidirectional mechanism bag in surgical drill are applied to for omnidirectional mechanism of the present invention
Deflection mechanism 2, luffing mechanism 3 and wire rope gearing system 4 are included, its front end is connected with surgical drill 1, rear end and rapid replacing interface
Mechanism 5 is connected, and can realize rotation R1, R2, R3 of three degree of freedom.
Such as Fig. 2 is omnidirectional mechanism structural representation of the present invention, and deflection structure 2 is that two rectangular configurations are led to luffing structure 3
Cross axle and be connected to one piece, its two axial lines intersects vertically in the same plane, integrated model is arranged on a wrist joint frame, composition one
The individual carpal structure of similar human hand；Wire rope transfers system 5 by by directive wheel, guide wheel shaft and be oriented to wheel carrier constitute,
It is power transmission and the motion transmission system of omnidirectional mechanism.
Be illustrated in figure 3 omnidirectional mechanism of the present invention deflection joint exploded view, driving wheel 2-5-1 controls deflection drilling pipe 2-1 to
In deflect, driving wheel 2-5-2 control deflection drilling pipe be deflected outward, the embodiment of both direction is identical, exemplified by deflecting inwards,
Embodiment is：Steel wire rope one end connects drive device, and one end is oriented to by directive wheel 4-2-1,4-1-1, with driving wheel
2-5-1 connections, when steel wire rope is tightened up, drive driving wheel 2-5-1 to rotate, torque is transmitted with motion mode through yawing axis 2-2-1
Deflection drilling pipe 2-1 is given, realizes that deflection joint is deflected inwards.Wherein, driving wheel 2-5-1 is fixedly connected with yawing axis 2-2-1, deflection
Axle 2-2-1 is fixedly connected with deflection drilling pipe 2-1.
Omnidirectional mechanism pitching joint exploded view of the present invention is illustrated in figure 4, driving wheel 3-3-1 control pitching framves 3-1 is upward
Rotate, driving wheel 3-3-2 controls pitching frame 3-1 is rotated down, and both direction embodiment is identical, exemplified by being rotated up, tool
Body embodiment is：Steel wire rope one end connects drive device, and one end is connected with driving wheel 3-3-1, when steel wire rope is tightened up, and drives
Driving wheel 3-3-1 is rotated, and torque passes to pitching frame 3-1 with motion mode through pitch axis 3-2-1, realizes that pitching joint turns upwards
It is dynamic.Wherein, driving wheel 3-3-1 is fixedly connected with pitch axis 3-2-1, and pitch axis 3-2-1 is fixedly connected with pitching frame 3-1.
Such as Fig. 5 is omnidirectional mechanism of the present invention silk transmission principle figure, and the omnidirectional mechanism has 3 frees degree R1, R2, R3,
Each free degree constitutes closed loop systems by two steel wire ropes and rotated, and steel cable controls the rotation side of one degree of freedom
To, wherein, deflection joint both direction wire mode is similar, and exemplified by deflecting inwards, the silk kind of drive is：Steel wire rope one end connects
It is connected on drive system M2, the other end is through six guiding of directive wheel 5-2-2,4-7-1,4-5-1,4-2-1 and 4-1-1, from driving
Take turns 2-5-1 inboards to enter, pass driving wheel connecting hole around driving wheel half-turn, clamped through flexible pipe, fixed with driving wheel, by pre-
Tightly, when steel wire rope is tightened up, drives driving wheel to rotate, realize the rotation inwards of deflection mechanism；The both direction wire of pitching joint
Mode is similar, exemplified by upward deflecting, and the silk kind of drive is：Steel wire rope one end is connected on drive system M1, and the other end is through leading
To tetra- guiding of wheel 5-1-1,4-6-1,4-4-1 and 4-3-1, enter from driving wheel 3-3-1 upsides, drive is passed around driving wheel half-turn
Driving wheel connecting hole, is clamped through flexible pipe, is fixed with driving wheel, by pretension, when steel wire rope is tightened up, and drives driving wheel to rotate, real
Show being rotated up for luffing mechanism；The control of the rotation free degree is in the inside of rapid replacing interface mechanism 5, steel wire rope one end and drive system
It is connected, one end is connected with autobiography silk cylinder, refers to invention disclosed patent ZL200910305201.1.
If Fig. 6 is omnidirectional mechanism structure sectional view of the present invention, yawing axis 2-2-1,2-2-2 and pitch axis 3-2-1,3-2-2
Axis intersected vertically in a plane, while structure centre is symmetrical so that omnidirectional mechanism is more reliable and more stable, wire is more
It is convenient.Four axles installation positioning method is similar, by taking pitch axis 3-2-1 as an example, installs positioning method and is：Pitch axis 3-2-1 is adopted one end
Designed, be fixedly connected with pitching frame 3-1 with non-full circle, other positions are connected with directive wheel 4-2-1 respectively, with driving wheel 3-
3-1 is fixedly connected, and is connected with bearing 3-4-1, and its middle (center) bearing 3-4-1 and wrist joint frame 3-6 is connected, check ring 3-
5-1 is positioned to bearing 3-4-1.
Such as Fig. 7 is omnidirectional mechanism driving wheel sectional view of the present invention, and driving wheel centre bore is designed using non-full circle, can transmitted
Torque, and motion can be transmitted.On its wheel, steel wire rope passes driving wheel connecting hole around driving wheel half-turn, is fixed on by flexible pipe
On driving wheel, driving wheel 2-5-1,2-5-2,3-3-1,3-3-2 in Fig. 6 are designed using this.
Claims (3)
1. a kind of wire rope gearing omnidirectional mechanism for surgical drill, it is characterised in that it includes deflection mechanism, pitching machine
Structure and the part of wire rope gearing system three, the deflection mechanism include yawing axis, driving wheel, directive wheel, pitching frame and deflection cylinder,
Luffing mechanism includes pitch axis, driving wheel, pitching frame, wrist joint frame and tube, and wire rope gearing system includes driving wheel, is oriented to
Wheel, guide wheel shaft and guiding wheel carrier, the deflection structure are designed as two rectangular configurations with luffing structure, one are connected to by axle
Block, its two axial lines are intersected vertically in the same plane, and integrated model is arranged on a wrist joint frame, constitute a similar human hand
Carpal structure.
2. according to the wire rope gearing omnidirectional mechanism for surgical drill described in claim 1, it is characterised in that described
Deflection mechanism and luffing mechanism driving wheel be distributed in deflection cylinder and pitching frame both sides, driven respectively by both sides, mechanism around
Axis is rotated, so as to realize the gimbal function of surgical drill.
3. according to the wire rope gearing omnidirectional mechanism for surgical drill described in claim 1, it is characterised in that the steel
Cord transmission system uses both sides wire scheme, and two steel wire ropes of each free degree enter tube respectively along wrist joint arm,
Antarafacial is intersecting in tube enters rapid replacing interface mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510960537.7A CN105380749B (en) | 2015-12-17 | 2015-12-17 | A kind of wire rope gearing omnidirectional mechanism for surgical drill |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510960537.7A CN105380749B (en) | 2015-12-17 | 2015-12-17 | A kind of wire rope gearing omnidirectional mechanism for surgical drill |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105380749A CN105380749A (en) | 2016-03-09 |
| CN105380749B true CN105380749B (en) | 2017-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510960537.7A Expired - Fee Related CN105380749B (en) | 2015-12-17 | 2015-12-17 | A kind of wire rope gearing omnidirectional mechanism for surgical drill |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106109019B (en) * | 2016-08-31 | 2018-11-09 | 微创（上海）医疗机器人有限公司 | Instruments box and surgical instrument |
| CN113208736B (en) * | 2021-05-31 | 2023-02-10 | 上海微创医疗机器人（集团）股份有限公司 | Instrument driving device, instrument tail end assembly, surgical instrument and surgical robot |
| CN113352349B (en) * | 2021-06-03 | 2023-03-31 | 深圳忆海原识科技有限公司 | Two-degree-of-freedom orthogonal tendon transmission joint module |
| CN113775637A (en) * | 2021-09-06 | 2021-12-10 | 国网思极紫光(青岛)微电子科技有限公司 | Bidirectional damping rotating shaft |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102119872A (en) * | 2011-01-10 | 2011-07-13 | 天津大学 | Compact quick-change mechanism of robot for minimally invasive surgery |
| CN103251458A (en) * | 2013-05-09 | 2013-08-21 | 天津工业大学 | Wire transmission four-freedom-degree surgical instrument for minimally invasive surgery robot |
| CN104970840A (en) * | 2015-07-16 | 2015-10-14 | 天津工业大学 | Six-degree-of-freedom surgical instrument by adoption of cable driving used for minimally invasive surgery |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6746443B1 (en) * | 2000-07-27 | 2004-06-08 | Intuitive Surgical Inc. | Roll-pitch-roll surgical tool |
| EP1707153B1 (en) * | 2005-03-29 | 2012-02-01 | Kabushiki Kaisha Toshiba | Manipulator |
| US8540748B2 (en) * | 2008-07-07 | 2013-09-24 | Intuitive Surgical Operations, Inc. | Surgical instrument wrist |
-
2015
- 2015-12-17 CN CN201510960537.7A patent/CN105380749B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102119872A (en) * | 2011-01-10 | 2011-07-13 | 天津大学 | Compact quick-change mechanism of robot for minimally invasive surgery |
| CN103251458A (en) * | 2013-05-09 | 2013-08-21 | 天津工业大学 | Wire transmission four-freedom-degree surgical instrument for minimally invasive surgery robot |
| CN104970840A (en) * | 2015-07-16 | 2015-10-14 | 天津工业大学 | Six-degree-of-freedom surgical instrument by adoption of cable driving used for minimally invasive surgery |
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| CN105380749A (en) | 2016-03-09 |
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