CN105832488B - A kind of main manipulator serial mechanism for bone surgery console - Google Patents
A kind of main manipulator serial mechanism for bone surgery console Download PDFInfo
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- CN105832488B CN105832488B CN201610144605.7A CN201610144605A CN105832488B CN 105832488 B CN105832488 B CN 105832488B CN 201610144605 A CN201610144605 A CN 201610144605A CN 105832488 B CN105832488 B CN 105832488B
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- encoder
- spacer pin
- fixed disc
- bent pole
- short bent
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
Abstract
A kind of main manipulator serial mechanism for bone surgery console, it is related to a kind of main manipulator serial mechanism, and in particular to a kind of main manipulator serial mechanism for bone surgery console.The problem of the shortcomings of present invention is narrow and small in order to solve to be currently used for the main manipulator working range of bone surgery console, and pose does not separate.The present invention includes platform, first encoder, first spacer pin, long bent pole, second encoder, second spacer pin, fixed disc, hold component and two short bent poles, first encoder and the first spacer pin are mounted side by side on the front of moving platform, the back side of moving platform is connected by long bent pole with fixed disc, second encoder and the second spacer pin are mounted side by side on the lower surface of fixed disc, two short bent poles are symmetricly set on the both sides of fixed disc, the side that the lower end of each short bent pole is corresponding with fixed disc connects, the upper end of each short bent pole one end corresponding with the holding component connects, the front of moving platform is connected with manipulation bindiny mechanism.The invention belongs to medical instruments field.
Description
Technical field
The present invention relates to a kind of main manipulator serial mechanism, and in particular to a kind of main operation for bone surgery console
Hand serial mechanism, belongs to medical instruments field.
Background technology
Teleoperation robot is usually separately controlled from the position of manipulator and posture in bone surgery, it is therefore desirable to main
The position of manipulator has good sub-control, especially part of attitude control with posture.Wherein gesture stability need have with
Under several features：1st, without singular point in working space；2nd, ergonomics is met；3rd, working space is big；4th, motion is flexible；5th, it is used to
Measure small；6th, impact position does not control.It is currently used for that the main manipulator working range of bone surgery console is narrow and small, and pose does not separate
The shortcomings of.
The content of the invention
The present invention is narrow and small to solve to be currently used for the main manipulator working range of bone surgery console, and pose does not separate
The problem of shortcoming, and then propose a kind of main manipulator serial mechanism for bone surgery console.
The present invention adopts the technical scheme that to solve the above problems：The present invention includes moving platform, the first encoder, first
Spacer pin, long bent pole, second encoder, the second spacer pin, fixed disc, holding component and two short bent poles, the first encoder
The front of moving platform is mounted side by side on the first spacer pin, the back side of moving platform is connected by long bent pole with fixed disc, and second
Encoder and the second spacer pin are mounted side by side on the lower surface of fixed disc, and two short bent poles are symmetricly set on the two of fixed disc
Side, the side that the lower end of each short bent pole is corresponding with fixed disc connect, the upper end of each short bent pole and the holding component
Corresponding one end connection, the front of moving platform are connected with manipulation bindiny mechanism.
Further, the holding component includes the 3rd spacer pin, the 3rd encoder, holds sleeve, key switch and two
Both ends company of the sleeve connector respectively with two short bent poles is held in individual holding sleeve connector, the both ends for holding sleeve by two
Connecing, key switch, which is arranged on, to be held on sleeve, and the 3rd spacer pin is arranged on the side of a corresponding holding sleeve connector,
And the 3rd spacer pin contacted with a corresponding short bent pole, the 3rd encoder, which is arranged on corresponding another, to be held sleeve and connects
The side of fitting.
The beneficial effects of the invention are as follows：1st, holding sleeve of the invention, which is provided with, grasps lines, meets ergonomics, makes
Doctor operates more flexible in bone surgery；2nd, the anglec of rotation of the invention is big, increase effectively working space；3rd, it is of the invention
In the case where ensureing rigidity requirement, the lighter hard aluminum of use, reduce inertia；4th, three spacer pins of the invention control angle of rotation
Degree, effectively prevent the unusual appearance occurred in serial mechanism；5th, the present invention makes the axis of three cradle heads meet at a bit, makes
Attitude motion is not influenceed by change in location, realizes that pose separates.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention, and Fig. 2 is the series connection posture structural representation of the present invention, and Fig. 3 is this hair
Bright holding component structure diagram.
Embodiment
Embodiment one：Illustrate present embodiment with reference to Fig. 1 to Fig. 3, one kind described in present embodiment is used for orthopaedics
The main manipulator serial mechanism of surgical console includes moving platform 1, the first encoder 2, the first spacer pin 3, long bent pole 4, second
Encoder 5, the second spacer pin 6, fixed disc 7, holding component and two short bent poles 8, the first encoder 2 and the first spacer pin 3
The front of moving platform 1 is mounted side by side on, the back side of moving platform 1 is connected by long bent pole 4 with fixed disc 7, the He of second encoder 5
Second spacer pin 6 is mounted side by side on the lower surface of fixed disc 7, and two short bent poles 8 are symmetricly set on the both sides of fixed disc 7,
The side that the lower end of each short bent pole 8 is corresponding with fixed disc 7 connects, the upper end of each short bent pole 8 and the holding component
Corresponding one end connection, the front of moving platform 1 are connected with manipulation bindiny mechanism 13.
Long bent pole 4, short bent pole 8, fixed disc 7 are made using hard aluminum in present embodiment.
Embodiment two：Illustrate present embodiment with reference to Fig. 1 to Fig. 3, one kind described in present embodiment is used for orthopaedics
The holding component of the main manipulator console of operation includes the 3rd spacer pin 9, the 3rd encoder 10, holding sleeve 11, button and opened
Close 12 and two holding sleeve connectors 14, hold sleeve 11 both ends by two hold sleeve connectors 14 respectively with two
The both ends connection of short bent pole 8, key switch 12, which is arranged on, to be held on sleeve 11, and the 3rd spacer pin 9 is arranged on corresponding one
The side of sleeve connector 14 is held, and the 3rd spacer pin 9 contacts with a corresponding short bent pole 8, the 3rd encoder 10 is pacified
Mounted in the side of another corresponding holding sleeve connector 14.Other compositions and annexation and the phase of embodiment one
Together.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as be without departing from technical solution of the present invention content, according to the technical spirit of the present invention,
Within the spirit and principles in the present invention, any simple modification, equivalent substitution and improvement for being made to above example etc., still
Belong within the protection domain of technical solution of the present invention.
Claims (1)
1. a kind of main manipulator serial mechanism for bone surgery console, it include moving platform (1), the first encoder (2),
First spacer pin (3), long bent pole (4), second encoder (5), the second spacer pin (6), fixed disc (7), holding component and two
Individual short bent pole (8), the first encoder (2) and the first spacer pin (3) are mounted side by side on the front of moving platform (1), moving platform (1)
The back side is connected by long bent pole (4) with fixed disc (7), and second encoder (5) and the second spacer pin (6) are mounted side by side on fixation
The lower surface of disk (7), two short bent poles (8) are symmetricly set on the both sides of fixed disc (7), the lower end of each short bent pole (8)
The side connection corresponding with fixed disc (7), the upper end of each short bent pole (8) one end corresponding with the holding component connect
Connect, the front of moving platform (1) is connected with manipulation bindiny mechanism (13)；It is characterized in that：It is spacing that the holding component includes the 3rd
(9), the 3rd encoder (10), holding sleeve (11), key switch (12) and two holding sleeve connectors (14) are sold, hold set
The both ends of cylinder (11) are held both ends of the sleeve connector (14) respectively with two short bent poles (8) by two and are connected, key switch
(12) it is arranged on and holds on sleeve (11), the 3rd spacer pin (9) is arranged on corresponding one and holds sleeve connector (14)
Side, and the 3rd spacer pin (9) contacts with a corresponding short bent pole (8), the 3rd encoder (10) is arranged on corresponding
Another holds the side of sleeve connector (14)；Long bent pole (4), short bent pole (8), fixed disc (7) use hard aluminium
Material makes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610144605.7A CN105832488B (en) | 2016-03-14 | 2016-03-14 | A kind of main manipulator serial mechanism for bone surgery console |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610144605.7A CN105832488B (en) | 2016-03-14 | 2016-03-14 | A kind of main manipulator serial mechanism for bone surgery console |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105832488A CN105832488A (en) | 2016-08-10 |
| CN105832488B true CN105832488B (en) | 2018-03-30 |
Family
ID=56587139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610144605.7A Active CN105832488B (en) | 2016-03-14 | 2016-03-14 | A kind of main manipulator serial mechanism for bone surgery console |
Country Status (1)
| Country | Link |
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| CN (1) | CN105832488B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107361849B (en) | 2017-07-31 | 2023-11-21 | 成都博恩思医学机器人有限公司 | Console for actuating an actuator |
| EP3782573A4 (en) | 2018-04-17 | 2022-01-26 | Chengdu Borns Medical Robotics Inc. | Laparoscope-holding robot system for laparoscopic surgery |
| CN113967071B (en) | 2020-10-23 | 2023-09-29 | 成都博恩思医学机器人有限公司 | Control method and device for movement of mechanical arm of surgical robot along with operation bed |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5744455B2 (en) * | 2010-09-29 | 2015-07-08 | オリンパス株式会社 | Master / slave manipulator control device and control method thereof |
| CN102729238B (en) * | 2012-06-28 | 2014-11-26 | 哈尔滨工程大学 | Three-axis intersection type posture main hand mechanism |
| TWI504492B (en) * | 2013-04-30 | 2015-10-21 | Hiwin Tech Corp | Spherical Linkage Surgical Arm |
| CN104546144B (en) * | 2015-01-22 | 2016-09-14 | 中国科学院重庆绿色智能技术研究院 | A kind of seven freedom force feedback remote operating hands of switchable type |
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2016
- 2016-03-14 CN CN201610144605.7A patent/CN105832488B/en active Active
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| Publication number | Publication date |
|---|---|
| CN105832488A (en) | 2016-08-10 |
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