CN105748153B - A kind of assisted minimally invasive surgical operation robot mechanical arm - Google Patents
A kind of assisted minimally invasive surgical operation robot mechanical arm Download PDFInfo
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- CN105748153B CN105748153B CN201610353056.4A CN201610353056A CN105748153B CN 105748153 B CN105748153 B CN 105748153B CN 201610353056 A CN201610353056 A CN 201610353056A CN 105748153 B CN105748153 B CN 105748153B
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- connecting rod
- axle
- connecting seat
- arm
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention discloses a kind of assisted minimally invasive surgical operation robot mechanical arm, and it includes connecting seat I, connecting rod II, and connecting rod II axis and the parallel lines of connecting rod III, connecting rod IV and connecting seat VIII axis form parallelogram OPQR.Under motor I drivings, axle II drive links III rotates around P points, axle IV drive links IV rotates around Q points, axle VI drive connection seat VIII rotate around R points, and mechanical arm does " parallelogram " oscillating motion centered on fixing point O points in the plane that connecting rod II axis and connecting rod III, connecting rod IV and connecting seat VIII axis parallel lines are formed.Under motor II drivings, connecting rod II does oscillating motion centered on fixing point O points around itself axial rotation, mechanical arm around connecting rod II axis.Apparatus of the present invention have accurate transmission, reliability height, range of movement is big, system stiffness is big, service life is long, profile is succinct, minimizes, light-weighted advantage.
Description
Technical field
The present invention relates to the Medical Devices in a kind of micro-wound surgical operation field, and it can clamp operation tool auxiliary doctor
Implement Minimally Invasive Surgery operation, more particularly to a kind of assisted minimally invasive surgical operation for the Minimally Invasive Surgery operation for being suitable for thoracic cavity and abdominal cavity
Robot arm.
Background technology
Minimally invasive surgery using laparoscopic surgery as representative is described as 20th century medical science to the significant contribution of human civilization
One of, Minimally Invasive Surgery operation refers to that doctor is insinuated into enter in vivo using elongated operation tool by the miniature incision of human body surface
Row operation technique.It is compared with traditional open surgery with operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time
The advantages that fast, this causes the pain that patient is subjected to greatly reduce；Clinical operation is widely used in for this minimally invasive surgery.It is minimally invasive
Operation can be that patient brings many interests, but the operation to doctor adds a series of difficulty, such as：1) due to body surface patchhole
Limitation, the free degree of instrument reduced to four, and flexibility substantially reduces；2) instrumentation direction and the intuition direction phase of doctor
Instead, inaccurate coordination；3) shake of doctor's hand may be amplified by elongated operation tool；4) visual area is imaged for two dimensional surface,
Lack the sensation in depth；5) force feeling is lacked.Therefore, doctor, which has to pass through prolonged exercise, can carry out Minimally Invasive Surgery behaviour
Make, nonetheless, Minimally Invasive Surgery is also only applied only to operate among relatively simple surgical procedure at present.Therefore, micro-
Create surgical field in there is an urgent need to a kind of robot system to aid in doctor to overcome drawbacks described above, it is easier to completion
Minimally Invasive Surgery operates.At present, the minimally invasive surgical operation robot system that can clinically use only have Da Vinci series and
Zeus systems, but they have the shortcomings that bulky, expensive etc..Miniaturization and inexpensive micro-wound operation robot
System is future developing trend.The invention provides one kind transmission is accurate, reliability is high, range of movement is big, system stiffness is big, makes
With the profile of long lifespan is succinct, miniaturization, light-weighted assisted minimally invasive surgical operation robot mechanical arm.
At present, robot realizes the mode of Minimally Invasive Surgery operation requirement for clamping the active mechanical arm section of operation tool
Mainly there are three kinds：1) joint linkage is controlled to realize, after which to traditional industrial robot by carrying out related improvement, installation
Operation tool carries out Minimally Invasive Surgery operation, can shorten the construction cycle of robot.However, the security of this mode is poor,
At present only with the feasibility for verifying some principles in the lab.2) passive joint is added, is elongated the advantages of this mode
Operation tool can adapt to the change in location of point of penetration automatically, it is considered to be a kind of safest mode.However, surgical procedure
Tissue around middle body surface otch can be also poor by the active force of operation tool transmission, control accuracy.3) pact of mechanism in itself
Beam, this mode are by developing some special machine robot mechanism realizations that can be clamped operation tool and be moved around body surface otch
, conventional mainly has arc-shaped guide rail and double parallel quadrangular mechanism.The robot system developed using the method for arc-shaped guide rail
There is the defects of occupancy volume is big, motion coupling etc.；There is double parallel quadrangular mechanism structure to simplify, small volume, in light weight
Etc. the advantages of, be a kind of mode being most widely used at present, but its processing and assembling to system is proposed very
High requirement, because each connecting rod precision in the longitudinal direction of parallelogram is difficult to ensure that, therefore strong influence machine
The kinematic accuracy and rigidity of device people.
The mechanical arm power transmission structure applied to micro-wound surgical operation is mainly silk transmission at present, due to the bullet of steel wire rope
Property, make steel wire rope easily stretchable under tractive force effect, reduced using silk gearing friction power after a period of time or failed, lose transmission
Function.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide one kind transmission is accurate, reliability is high, range of movement
Greatly, system stiffness is big, the profile of service life length is succinct, minimizes, light-weighted assisted minimally invasive surgical operation robot machinery
Arm, it can clamp operation tool auxiliary doctor and implement Minimally Invasive Surgery operation, and the system disclosure satisfy that operation tool was being performed the operation
All the time around the requirement of body surface patchhole motion in journey.
The invention provides a kind of transmission is accurate, reliability is high, range of movement is big, system stiffness is big, service life is grown
Profile is succinct, minimizes, light-weighted assisted minimally invasive surgical operation robot mechanical arm, and concrete scheme is as follows：
A kind of assisted minimally invasive surgical operation robot mechanical arm, including arm I, arm II, the arm III being sequentially connected；Arm I's
Free end is provided with two motors I, II, and a connecting seat for being used to connect operation tool is connected in arm III free end
VIII, described arm I and arm III diameter parallel, arm II and by connecting seat VIII axis and with arm II diameter parallel
Straight line parallel, four constitute " parallelogram " structure；Arm I drives " parallelogram " under motor I driving
Structure is swung；Arm I driven under motor II driving whole mechanical arm with " parallelogram " with arm I, connecting seat
Centered on the relative point in VIII crosspoints, the axis around arm I does oscillating motion.
Further, described arm I includes connecting rod II, axle II, and described connecting rod II is fixed on connecting seat I, axle II mono-
End drives its rotation by motor I, and the other end drives the axle III perpendicular with it to rotate by a pair of gears；At axle III top
Connecting seat IV is installed, bottom installation connecting seat III, described connecting seat IV is under axle III driving relative to connecting seat III
Rotation；Described connecting rod II is rotated under motor II driving, and connecting rod II is fixedly connected with connecting seat III.
Further, described arm II includes connecting rod III and axle IV, described axle III pass through a pair of gear drive shaft IV
Rotation, axle IV end drive the axle V perpendicular with it to rotate, connecting seat are provided with the top of axle V further through a pair of gears
V, bottom are installed connecting seat VI, described connecting seat VI and rotated under axle V driving relative to connecting seat V；Described connecting rod III
One end is fixedly connected with connecting seat IV；The other end is fixedly connected with connecting seat V.
Further, described arm III includes connecting rod IV and axle VI, described axle V are revolved by a pair of gear drive shaft VI
Turn, axle VI end drives the axle VII perpendicular with it to rotate further through a pair of gears；Connection is installed at the top of axle VII
Seat VIII, bottom are installed connecting seat VII, described connecting seat VIII and rotated under axle VII driving relative to connecting seat VII；
Described connecting rod IV one end is fixedly connected with connecting seat VI；The other end is fixedly connected with connecting seat VII.
Further, described one quick union of connecting seat VIII connections, operation is installed on described quick union
Instrument.
Further, described motor II is rotated by a pair of gear drive link II；In motor II output ends
Geared end fixes an electricity loss brake I, prevents under powering-off state, and mechanical arm is centered on fixing point O points, around described company
Bar II axis does oscillating motion.
Further, described mechanical arm also includes an electricity loss brake II, and it is fixed on described axle VII and institute
On the connecting seat VII stated, prevent that mechanical arm is centered on fixing point O points under powering-off state, described connecting rod II axis with
The parallel lines of axis and described connecting seat VIII axle of the parallel lines of described connecting rod III axis, described connecting rod IV
" parallelogram " oscillating motion is done in the plane that the parallel lines of line are formed.
Further, described connecting rod II, connecting rod III, connecting rod IV length relation should meet：Rotate connecting rod III
During to angle with connecting rod II diameter parallels, connecting seat V and connecting seat VI are not interfered with connecting seat I；Connecting rod IV rotates
During to angle with connecting rod III " diameter parallel ", connecting seat VII and connecting seat VIII not with connecting seat III and connecting seat IV
Interference.
Further, described connecting rod III and connecting rod IV can swing to connecting rod II both sides, connecting rod IV is rotated to connecting rod
The parallel lines of II axis are located at " axle VI and axle V " intersection point " and axle VI and axle VII " intersection point " with " intersection point " of connecting rod IV axis
Between " line segment " on position and mechanical arm self structure does not occur " to interfere ".
Further, described motor I, motor II can also replace with hydraulic motor or air motor.
The course of work of the present invention is as follows：
Described connecting rod II axis, the parallel lines of connecting rod III axis, described connecting rod IV axis parallel lines and
The parallel lines of described connecting seat VIII axis form a parallelogram OPQR, and described fixing point O points are described
The intersection point of connecting rod II axis and the parallel lines of described connecting seat VIII axis.It is fixed on described connecting seat VIII
On the axis of operation tool pass through fixing point O points.
Under motor I drivings, connecting rod II and connecting seat I geo-stationaries, axle II drive links III is around the rotation of P points while axle
IV is relative to connecting rod III rotations, and around the rotation of Q points, axle VI drives axle IV drive links IV relative to connecting rod IV rotations, axle VI simultaneously
Connecting seat VIII rotates around R points, and mechanical arm is centered on fixing point O points, in described connecting rod II axis and described connecting rod
The parallel lines of III axis, described connecting rod IV axis parallel lines and described connecting seat VIII axis parallel lines
" parallelogram " oscillating motion is done in the plane of composition.
Under motor II drivings, connecting rod II is relative to connecting seat I rotations, and mechanical arm is centered on fixing point O points, around described
Connecting rod II axis do oscillating motion.
Under motor I and motor II cooperation driving, operation tool can be made to do ball shape rotary motion around fixing point O points.
By making point of penetration " overlap " of the fixing point O points with body operation position, mechanical arm safely positioning operation work can be passed through
Tool, without applying dangerous active force to human body stomach wall.
The assisted minimally invasive surgical operation robot mechanical arm that is used for of the present invention has below beneficial to effect compared with prior art
Fruit：
1. apparatus of the present invention make mechanism have accurate transmission, reliability height, motion model by using gear-driven form
Enclose that big, system stiffness is big, service life is long, profile is succinct, minimizes, light-weighted advantage；Apparatus of the present invention have larger
The range of movement of operation tool, the size of mechanical arm is reduced, alleviate its weight.
2. apparatus of the present invention realize the requirement of point of penetration constraint during micro-wound surgical operation by the constraint of mechanism itself,
Meet that operation tool, all the time around the requirement of body surface patchhole motion, does not introduce redundant degree of freedom, Ke Yitong in surgical procedure
Mechanical arm safely positioning operation instrument is crossed, without applying dangerous active force to human body stomach wall, ensure that and use upper safety
Property；
3. apparatus of the present invention have the advantages of double parallel quadrangular mechanism being applied, but overcome double parallel four
Bian Xing mechanisms require process and assemble this harsh shortcoming, so as to advantageously ensure that the kinematic accuracy of robot and system stiffness；
4. apparatus of the present invention make mechanism have accurate transmission, reliability height, using the longevity by using gear-driven form
Order the advantages of long；Elasticity of a kind of drive due to steel wire rope is overcome, makes steel wire rope easily stretchable under tractive force effect, uses
Silk gearing friction power reduces or failure after a period of time, the defects of losing the function of transmission；
5. apparatus of the present invention application field is the micro-wound surgical operation towards thoracic cavity and abdominal cavity field, oriented other fields are such as
The potentiality that the operation in the fields such as ear nose larynx is expanded；
6. the arm section clamping operation tool that apparatus of the present invention are laid out by " parallelogram " is insinuated into patient's body at a distance
Minimally Invasive Surgery operation is carried out above body, this structure can greatly save the space above robot occupancy patient body；
7. apparatus of the present invention can fully meet that Minimally Invasive Surgery operation is more with a variety of supporting operational tools of quick-replaceable
The requirement of sample.
8. apparatus of the present invention can clamp the operation of Endoscope-assisted Minimally Invasive Surgery, mirror doctor can will be held from dull, fatigue
Hold mirror work in free.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are not necessarily pressed
Only it is to be illustratively described the present invention according to ratio, drawings discussed below is only some embodiments in the present invention, is not limit
The system present invention, for those of ordinary skill in the art, without having to pay creative labor, can also be according to this
A little accompanying drawings obtain other accompanying drawings.
Fig. 1 is a kind of front view structure signal of embodiment one of assisted minimally invasive surgical operation robot mechanical arm of the present invention
Figure.
Fig. 2 is a kind of plan structure signal of embodiment one of assisted minimally invasive surgical operation robot mechanical arm of the present invention
Figure.
Fig. 3 is a kind of embodiment for meeting operation technique demand of assisted minimally invasive surgical operation robot mechanical arm of the present invention
One schematic diagram of extreme position one.
Fig. 4 is a kind of embodiment for meeting operation technique demand of assisted minimally invasive surgical operation robot mechanical arm of the present invention
One schematic diagram of extreme position two.
Fig. 5 is a kind of front view structure signal of embodiment two of assisted minimally invasive surgical operation robot mechanical arm of the present invention
Figure.
Fig. 6 is a kind of plan structure signal of embodiment two of assisted minimally invasive surgical operation robot mechanical arm of the present invention
Figure.
Fig. 7 is a kind of embodiment for meeting operation technique demand of assisted minimally invasive surgical operation robot mechanical arm of the present invention
Two schematic diagram of extreme position one.
Fig. 8 is a kind of embodiment for meeting operation technique demand of assisted minimally invasive surgical operation robot mechanical arm of the present invention
Two schematic diagram of extreme position two.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Whole description, it is clear that described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
Embodiment 1
As shown in Figure 1 and Figure 2, the invention provides one kind transmission is accurate, reliability is high, range of movement is big, system stiffness
Greatly, the profile of service life length is succinct, minimizes, light-weighted assisted minimally invasive surgical operation robot mechanical arm.It include according to
Arm I2, arm II4, the arm III6 of secondary connection；It is connected between arm I2 and arm II4 by attachment means 3；Between arm II4 and arm III6
It is connected by attachment means 5, is provided with drive device 1 in arm I2 free end, specifically includes two motors I1-1, II1-2,
Attachment means 7 of the connection one for connecting operation tool in arm III6 free end, described arm I and arm III axis are put down
OK, arm II and by connecting seat VIII axis and " parallel four side is constituted with the straight line parallel of arm II diameter parallel, four
Shape " structure；Arm I drives " parallelogram " structure to swing under motor I driving；Drivings of the arm I in motor II
It is lower to drive whole mechanical arm centered on point relative with arm I, connecting seat VIII crosspoints in " parallelogram ", around arm I's
Axis does oscillating motion.
Wherein arm I includes connecting rod II, axle II；Arm II includes connecting rod III and axle IV；Described arm III include connecting rod IV and
Axle VI；Specific annexation and position relationship are as follows between all parts：
Described motor I1-1 is fixed on described connecting seat II2-1, and described connecting seat II1-9 installations are fixed
On described gear I1-5, described gear I1-5 is fixed on described connecting rod II2-1.Described decelerator I1-3
It is fixed on described connecting seat II1-9, described motor I1-1 is connected with described decelerator I1-3, described electricity
Machine I1-1 outputs power to the described decelerator I1-3 rotations of described decelerator I1-3 drivings, described decelerator I1-3's
Output end is fixedly connected by connector with described axle II2-2, and described decelerator I1-3 outputs power to described axle
The described axle II2-2 rotations of II2-2 drivings, described axle II2-2 are matched somebody with somebody with described connecting rod II2-1 by bearing and end cap and merged
Axial restraint, described axle II2-2 can be relative to described connecting rod II2-1 around own axis.
Further, described motor II1-2 is fixed on described connecting seat I1, described decelerator II1-4
It is fixed on described connecting seat I1, described motor II1-2 is connected with decelerator II1-4, described motor II1-2
The described decelerator II1-4 rotations of described decelerator II1-4 drivings are output power to, described decelerator II1-4's is defeated
Go out end to be fixedly connected with described gear II1-6 by connector, described decelerator II1-4 outputs power to described tooth
The described gear II1-6 rotations of II1-6 drivings are taken turns, described gear II1-6 coordinates with described gear I1-5, described gear
II1-6 outputs power to the described gear I1-5 rotations of described gear I1-5 drivings, and described gear I1-5 installations are fixed
On described connecting rod II2-1, described gear I1-5 outputs power to the described connecting rod of described connecting rod II2-1 drivings
II2-1 rotates.Described connecting rod II2-1 is matched somebody with somebody with described connecting seat I1 by bearing and end cap and merges axial restraint, described
Connecting rod II2-1 can be relative to described connecting seat I1 around own axis.
Further, described connecting rod II2-1 is fixedly connected with described connecting seat III3-1, described axle II2-2 with
Described gear III3-4 is fixedly connected, and described axle II2-2 is output power to described in described gear III3-4 drivings
Gear III3-4 rotates, and described gear III3-4 coordinates with described gear IV3-5, and described gear III3-4 is defeated by power
Go out to the described gear IV3-5 rotations of described gear IV3-5 drivings, described gear IV3-5 and be fixed on described axle
On III3-3, described gear IV3-5 outputs power to the described axle III3-3 rotations of described axle III3-3 drivings.It is described
Axle III3-3 by bearing and end cap and described connecting seat III3-1 with merging axial restraint, described axle III3-3 can be with
Relative to described connecting seat III3-1 around own axis.Described axle III3-3 fixes with described connecting seat IV3-2
Connection, described axle III3-3 output power to the described connecting seat IV3-2 rotations of described connecting seat IV3-2 drivings.Institute
The connecting seat IV3-2 stated is matched somebody with somebody with described connecting seat III3-1 by bearing and end cap and merges axial restraint, described connecting seat
IV3-2 can be relative to described connecting seat III3-1 around own axis.Described connecting seat IV3-2 and described connecting rod
III4-1 is fixedly connected.Described gear V3-6 is fixed on described connecting seat III3-1, and described axle III3-3 can
With relative to described gear V3-6 around own axis.Described gear V3-6 coordinates with described gear VI3-7, described
Gear V3-6 output power to the described gear VI3-7 rotations of described gear VI3-7 drivings, described gear VI3-7
It is fixed on described axle IV4-2, described gear VI3-7 is output power to described in described axle IV4-2 drivings
Axle IV4-2 rotates.Described axle IV4-2 is matched somebody with somebody with described connecting rod III4-1 by bearing and end cap and merges axial restraint, described
Axle IV4-2 can be relative to described connecting rod III4-1 around own axis.
Described connecting rod III4-1 is fixedly connected with described connecting seat V5-1, described axle IV4-2 and described gear
VII5-4 is fixedly connected, and described axle IV4-2 outputs power to the described gear VII5-4 of described gear VII5-4 drivings
Rotation, described gear VII5-4 coordinate with described gear VIII5-5, and described gear VII5-4 outputs power to described
The described gear VIII5-5 rotations of gear VIII5-5 drivings, described gear VIII5-5 is fixed on described axle V5-
On 3, described gear VIII5-5 outputs power to the described axle V5-3 rotations of described axle V5-3 drivings.Described axle V5-
3 by bearing and end cap with described connecting seat V5-1 with axial restraint is merged, described axle V5-3 can be relative to described
Connecting seat V5-1 is around own axis.Described axle V5-3 is fixedly connected with described connecting seat VI5-2, described axle V5-3
Output power to the described connecting seat VI5-2 rotations of described connecting seat VI5-2 drivings.Described connecting seat VI5-2 passes through
Bearing and end cap are matched somebody with somebody with described connecting seat V5-1 merges axial restraint, and described connecting seat VI5-2 can be relative to described
Connecting seat V5-1 is around own axis.Described connecting seat VI5-2 is fixedly connected with described connecting rod IV6-1.Described tooth
Wheel IX5-6 is fixed on described connecting seat V5-1, and described axle V5-3 can be relative to described gear IX5-6 around certainly
Body axis rotate.Described gear IX5-6 coordinates with described gear X5-7, and described gear IX5-6 outputs power to institute
The gear X5-7 rotations described in gear X5-7 drivings stated, described gear X5-7 are fixed on described axle VI6-2, institute
The gear X5-7 stated outputs power to the described axle VI6-2 rotations of described axle VI6-2 drivings.Described axle VI6-2 passes through
Bearing and end cap are matched somebody with somebody with described connecting rod IV6-1 merges axial restraint, and described axle VI6-2 can be relative to described connecting rod
IV6-1 is around own axis.
Described connecting rod IV6-1 is fixedly connected with described connecting seat VII7-1, described axle VI6-2 and described gear
XI7-4 is fixedly connected, and described axle VI6-1 outputs power to the described gear XI7-4 rotations of described gear XI7-4 drivings
Turn, described gear XI7-4 coordinates with described gear XII7-5, and described gear XI7-4 outputs power to described tooth
The described gear XII7-5 rotations of XII7-5 drivings are taken turns, described gear XII7-5 is fixed on described axle VII7-3,
Described gear XII7-5 outputs power to the described axle VII7-3 rotations of described axle VII7-3 drivings.Described axle
VII7-3 is matched somebody with somebody with described connecting seat VII7-1 by bearing and end cap and merges axial restraint, and described axle VII7-3 can be relative
In described connecting seat VII7-1 around own axis.Described axle VII7-3 fixes with described connecting seat VIII7-2 to be connected
Connect, described axle VII7-3 outputs power to the described connecting seat VIII7-2 rotations of described connecting seat VIII7-2 drivings.
Described connecting seat VIII7-2 is matched somebody with somebody with described connecting seat VII7-1 by bearing and end cap and merges axial restraint, described company
Joint chair VIII7-2 can be relative to described connecting seat VII7-1 around own axis.Quick-release connector I is fixed on described
Connecting seat VIII7-2 on, operation tool is fixed on described quick-release connector I.
Described electricity loss brake I1-11 is fixed on described gear II1-6 with described connecting seat I1, preventing
Only under powering-off state, for mechanical arm centered on fixing point O points, the axis around described connecting rod II2-1 does oscillating motion.Described
Electricity loss brake II7-9 is fixed on described axle VII7-3 with described connecting seat VII7-1, preventing powering-off state
Lower mechanical arm is centered on fixing point O points, in described connecting rod II2-1 axis and putting down for described connecting rod III4-1 axis
Line, described connecting rod IV6-1 axis parallel lines and described connecting seat VIII7-2 axis parallel lines form it is flat
" parallelogram " oscillating motion is done in face.
The course of work of the present invention is as follows：
Described connecting rod II2-1 axis, the parallel lines of connecting rod III4-1 axis, described connecting rod IV6-1 axis
Parallel lines and described connecting seat VIII7-2 axis parallel lines form a parallelogram OPQR, described fixation
The intersection point of axis and the parallel lines of described connecting seat VIII7-2 axis that point O points are described connecting rod II2-1.Installation is solid
The axis for the operation tool being scheduled on described connecting seat VIII7-2 passes through fixing point O points.
Under motor I1-1 drivings, connecting rod II2-1 and connecting seat I1 geo-stationaries, III4-1 is around P for axle II2-1 drive links
Axle IV4-2 is relative to connecting rod III4-1 rotations simultaneously for point rotation, and axle IV4-2 drive links IV6-1 is around the rotation of Q points while axle VI6-
2 rotate relative to connecting rod IV6-1 rotations, axle VI6-2 drive connection seat VIII7-2 around R points, and mechanical arm is using fixing point O points in
The heart, parallel lines, described connecting rod IV6-1 in described connecting rod II2-1 axis and described connecting rod III4-1 axis
" parallelogram " swing is done in the plane that the parallel lines of the parallel lines of axis and described connecting seat VIII7-2 axis are formed
Motion.
Under motor II1-2 drivings, connecting rod II2-1 is relative to connecting seat I1 rotations, and mechanical arm is using fixing point O points in
The heart, the axis around described connecting rod II2-1 do oscillating motion.
Under motor I1-1 and motor II1-2 cooperation driving, operation tool can be made to do ball shape rotary around fixing point O points
Motion.By making fixing point O points safely to position hand by mechanical arm with the point of penetration " coincidence " at body operation position
Art instrument, without applying dangerous active force to human body stomach wall.
As the further improvement of such scheme, described drive device can be motor, hydraulic motor or air motor.
A kind of assisted minimally invasive surgical operation robot mechanical arm proposed by the present invention can be changed to a kind of real additionally below
A structure is applied, mechanical arm can be made to obtain bigger slewing area, more broadly to meet operation technique requirement, for greater flexibility
Different application scenarios is adapted to, it is specific as follows such as Fig. 5 and Fig. 6：
Embodiment 2
On the basis of the technical scheme of embodiment one, connecting rod IV6-1 and connecting rod II2-1 are separately mounted to connecting rod
III4-1 " both sides ", connecting rod II2-1, connecting rod III4-1, connecting rod IV6-1 design appropriate length relation, make connecting rod III4-1
When rotating to the angle with connecting rod II2-1 " diameter parallel ", connecting seat V5-1 and connecting seat VI5-2 do not occur with connecting seat I1
" interference "；When connecting rod IV6-1 rotates to the angle with connecting rod III4-1 " diameter parallel ", connecting seat VII7-1 and connecting seat
VIII7-2 not with connecting seat III3-1 and connecting seat IV3-2 " interference ".Connecting rod III4-1 can be swung to connecting rod IV6-1
Connecting rod II2-1 " both sides " (such as Fig. 7 view directions), connecting rod IV6-1 is set to rotate to connecting rod II2-1 axis and connecting rod IV6-1
" intersection point " of parallel lines of axis be located at the position between 2 points of line segment QR and mechanical arm self structure does not occur " to interfere ", from
And mechanical arm is obtained bigger slewing area, more broadly to meet operation technique requirement, adapt to for greater flexibility different
Application scenario.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
In god and principle, any modification, equivalent substitution and improvements made etc., it should be included within the scope of the present invention.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, model not is protected to the present invention
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deformation that creative work can make still within protection scope of the present invention.
Claims (9)
- A kind of 1. assisted minimally invasive surgical operation robot mechanical arm, it is characterised in that：Including the arm I, arm II, arm being sequentially connected III；Two motors I, II are provided with arm I free end, one is connected in arm III free end and is used to connect operation tool Connecting seat VIII, described arm I and arm III diameter parallel, arm II and by connecting seat VIII axis and with arm II's The straight line parallel of diameter parallel, four constitute " parallelogram " structure；Arm I drives " parallel under motor I driving Quadrangle " structure is swung；Arm I driven under motor II driving whole mechanical arm with " parallelogram " with arm I, even Centered on the relative point in joint chair VIII crosspoints, the axis around arm I does oscillating motion；Described arm I includes connecting rod II, axle II, and described connecting rod II is fixed on connecting seat I, and axle II one end is driven by motor I It rotates, and the other end drives the axle III perpendicular with it to rotate by a pair of gears；Connecting seat is installed at the top of axle III IV, bottom are installed connecting seat III, described connecting seat IV and rotated under axle III driving relative to connecting seat III；Described Connecting rod II is rotated under motor II driving, and connecting rod II is fixedly connected with connecting seat III.
- 2. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 1, it is characterised in that：Described motor II leads to Cross a pair of gear drive link II rotations；An electricity loss brake I is fixed in the geared end of motor II output ends.
- 3. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 1, it is characterised in that：Described arm II bags Include connecting rod III and axle IV, described axle III are rotated by a pair of gear drive shaft IV, axle IV end is further through a pair of gears The driving axle V rotation perpendicular with it, connecting seat V, bottom installation connecting seat VI, described connection are installed at the top of axle V Seat VI rotates under axle V driving relative to connecting seat V；Described connecting rod III one end is fixedly connected with connecting seat IV；The other end It is fixedly connected with connecting seat V.
- 4. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 3, it is characterised in that：Described arm III bags Include connecting rod IV and axle VI, described axle V are rotated by a pair of gear drive shaft VI, axle VI end is driven further through a pair of gears The dynamic axle VII rotation perpendicular with it；Connecting seat VIII, bottom installation connecting seat VII are installed at the top of axle VII, it is described Connecting seat VIII under axle VII driving relative to connecting seat VII rotate；Described connecting rod IV one end is consolidated with connecting seat VI Fixed connection；The other end is fixedly connected with connecting seat VII.
- 5. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 4, it is characterised in that：Described mechanical arm Also include an electricity loss brake II, it is fixed on described axle VII and on described connecting seat VII.
- 6. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 4, it is characterised in that：Described connecting seat One quick union of VIII connections, operation tool is installed on described quick union.
- 7. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 4, it is characterised in that：Described connecting rod II, Connecting rod III, connecting rod IV length relation should meet：When the connecting rod III is rotated to the angle with connecting rod II diameter parallels, connection Seat V and connecting seat VI is not interfered with connecting seat I；When connecting rod IV rotates to the angle with connecting rod III " diameter parallel ", Connecting seat VII and connecting seat VIII does not interfere with connecting seat III and connecting seat IV.
- 8. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 4, it is characterised in that：Described connecting rod III Connecting rod II both sides can be swung to connecting rod IV, connecting rod IV is rotated to the parallel lines and connecting rod IV axis of connecting rod II axis " intersection point " be located at " position on " line segment " between axle VI and axle V " intersection point " and axle VI and axle VII " intersection point " and mechanical arm from Body structure does not occur " to interfere ".
- 9. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 1, it is characterised in that described motor I, electricity Machine II can also replace with hydraulic motor or air motor.
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| CN201610353056.4A CN105748153B (en) | 2016-05-24 | 2016-05-24 | A kind of assisted minimally invasive surgical operation robot mechanical arm |
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| CN201610353056.4A CN105748153B (en) | 2016-05-24 | 2016-05-24 | A kind of assisted minimally invasive surgical operation robot mechanical arm |
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| CN105748153B true CN105748153B (en) | 2018-03-20 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106236267A (en) * | 2016-08-18 | 2016-12-21 | 山东大学齐鲁医院 | A kind of assisted minimally invasive surgical operation robot mechanical arm arrangements structure |
| CN106618736B (en) * | 2016-12-16 | 2019-03-08 | 微创（上海）医疗机器人有限公司 | Mechanical arm and operating robot with double freedom |
| CN106584445B (en) | 2016-12-16 | 2018-12-25 | 微创（上海）医疗机器人有限公司 | Fixed point mechanism |
| CN107639627A (en) * | 2017-09-29 | 2018-01-30 | 重庆金山医疗器械有限公司 | Parallelogram drive mechanism |
| CN107647916A (en) * | 2017-09-29 | 2018-02-02 | 重庆金山医疗器械有限公司 | The master arm of operating robot |
| CN108056822B (en) * | 2018-01-08 | 2020-09-11 | 苏风波 | Surgical auxiliary robot arm |
| CN111374770A (en) * | 2018-12-29 | 2020-07-07 | 深圳市达科为智能医学有限公司 | Pitching mechanical arm of medical robot |
| CN112971990B (en) * | 2021-02-03 | 2022-03-04 | 山东省千佛山医院 | Mechanical arm for minimally invasive surgical robot |
| CN113796818B (en) * | 2021-08-27 | 2024-03-19 | 天津大学医疗机器人与智能系统研究院 | Force balance instrument arm |
| CN113813048B (en) * | 2021-10-12 | 2023-05-12 | 中南大学 | Four-degree-of-freedom remote movement center mechanism of surgical robot |
| CN117224242B (en) * | 2023-11-10 | 2024-01-09 | 南方医科大学南方医院 | Rotary driving device for remote operation robot |
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