CN106073897B - A kind of snakelike joint and its mechanism for single hole minimally invasive robot - Google Patents
A kind of snakelike joint and its mechanism for single hole minimally invasive robot Download PDFInfo
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- CN106073897B CN106073897B CN201610548724.9A CN201610548724A CN106073897B CN 106073897 B CN106073897 B CN 106073897B CN 201610548724 A CN201610548724 A CN 201610548724A CN 106073897 B CN106073897 B CN 106073897B
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- elastic sheet
- snakelike
- channel
- elastic
- upper strata
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- 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
-
- 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
- A61B2017/00238—Type of minimally invasive operation
-
- 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
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/0034—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
Abstract
The invention discloses the snakelike articulation mechanisms for single hole minimally invasive robot, it includes snakelike joint and snakelike skeleton structure, snakelike joint includes elastic sheet, elastic sheet includes upper strata elastic sheet, upper strata elastic sheet is connected with lower floor elastic sheet fastening and forms intermediate channel, upper strata elastic sheet and lower floor's elastic sheet are into conjugate curves structure, middle elastic thin slice is slidably connected in intermediate channel, the rear portion of middle elastic thin slice is connected by middle level link block with linear motion driving source, snakelike skeleton structure includes the identical serpentine sector of multiple structures, the hollow channel of multiple serpentine sectors collectively constitutes serpentine channel, the elastic sheet in snakelike joint is mounted in serpentine channel, the opposite movement slided to control snakelike skeleton of linear motion driving source control middle elastic thin slice.This structure is compacter, and assembling is more convenient, can more effectively avoid collision problem of the tool in surgical procedure.
Description
Technical field
The present invention relates to a kind of micro-wound operation robot joint and its mechanisms, more particularly to a kind of to be used for minimally invasive surgery single hole
The joint of operating robot and its mechanism.
Background technology
With the development of science and technology, particularly image technology and control technology, Modern Medical Field have had been enter into machine
People's assisting minimally invasive epoch.So-called robot assisted minimally invasive surgery is exactly that doctor is assisted in surgical procedure using robot technology
It is raw to complete a series of surgical procedure so that surgical procedure is finer, wound smaller.The Da of Da Vinci companies of U.S. production
Vinci surgical robot systems and the highly skilled man robot system of Chinese University Of Tianjin independent research are the most typical.And with medical treatment
The development of technology, single hole operation gradually come out, while also bring the appearance of the dedicated single hole operating robot of single hole operation.
Single hole, which is performed the operation, to be referred to be placed in multiple puncture outfits or multi-pore channel puncture outfit in the small notch of a 15mm-40mm, then
Implantation surgery instrument is operated.What traditional single hole operation used is straight-bar tool, and instrument flexibility is poor, Yi Ti
It inside collides, the scope visual field is also less than normal.And the appearance of single hole operating robot, exactly to overcome problem above.Existing list
Hole operating robot mainly includes the three digest journals such as picture system, control system, train of mechanism in one.In existing single hole hand
In art operation, it is mostly stiff rod tool due to instrument and is all entered by a channel, easily generate " chopsticks effect " and lead to instrument
It collides in vivo, influences operating time and surgical quality.And although existing snakelike tool can solve the above problems, its from
Body structure is complicated, and assembling is more difficult.
Invention content
Present invention aims to overcome that the deficiency of prior art, providing one kind instrument in single hole surgical procedure will not occur
Collision improves visual-field space, surgical quality and the snake for single hole minimally invasive robot of the safety of operation of picture system
Shape joint and its mechanism.
The present invention realizes above-mentioned purpose by following technological means：
A kind of snakelike joint for single hole minimally invasive robot of the present invention, it includes elastic sheet, the Thin Elastic
Piece includes upper strata elastic sheet, and the upper strata elastic sheet is fastened with lower floor elastic sheet to be connected and form intermediate channel, institute
For the upper strata elastic sheet stated with lower floor's elastic sheet into conjugate curves structure, middle elastic thin slice is slidably connected at the centre
In channel, the upper strata elastic sheet and lower floor's elastic sheet are made of Nitinol, after the middle elastic thin slice
Portion is connected by middle level link block with linear motion driving source, the opposite slip of linear motion driving source control middle elastic thin slice
To control the Curvature varying of upper strata elastic sheet and lower floor's elastic sheet, corresponding bending motion is realized.
The snakelike articulation mechanism for single hole minimally invasive robot of the present invention, it includes snakelike joint and snakelike skeleton knot
Structure, the snakelike joint include elastic sheet, and the elastic sheet includes upper strata elastic sheet, the upper strata Thin Elastic
Piece is connected with lower floor elastic sheet fastening and forms intermediate channel, the upper strata elastic sheet and lower floor's elastic sheet into conjugation
Curvilinear structures, middle elastic thin slice are slidably connected in the intermediate channel, the upper strata elastic sheet and lower floor's elasticity
Thin slice is made of Nitinol, and the rear portion of the middle elastic thin slice passes through middle level link block and the driving source phase that moves along a straight line
Even, the snakelike skeleton structure includes the identical serpentine sector of multiple structures, each serpentine sector includes an intermediate tool
Have the ontology of hollow channel, uniform intervals are provided with multigroup channel on the inner wall of the ontology, every group of silk channel by
Two wire through-hole compositions, the axis of the multigroup channel is parallel with body axis, and multigroup channel is used for across steel wire,
By the way that sequentially rotation connection forms snakelike skeleton structure before and after straight pin between multiple serpentine sectors, the hollow of multiple serpentine sectors is led to
Road collectively constitutes serpentine channel, and the elastic sheet in the snakelike joint is mounted in serpentine channel, and move along a straight line driving source control
The opposite movement slided to control snakelike skeleton structure of middle elastic thin slice processed.
The present invention has the advantages that compared with prior art：
A kind of snakelike articulation mechanism for single hole minimally invasive robot of the present invention is compared with traditional snakelike joint, structure
Compacter, assembling is more convenient.
A kind of snakelike articulation mechanism for single hole minimally invasive robot of the present invention can more effectively avoid tool from performing the operation
Collision problem during operation.
A kind of snakelike articulation mechanism for single hole minimally invasive robot of the present invention is compared with traditional snakelike joint, driving
More convenient in form, control is simpler.
Although a kind of snakelike articulation mechanism for single hole minimally invasive robot of the present invention is set for single hole surgical instrument
Meter, but the articulation mechanism has higher portability, also can be directly used in other operation tools, has to other medical treatment and leads
The potentiality of domain extension.
Description of the drawings
Fig. 1 is a kind of snakelike articulation mechanism total figure for single hole minimally invasive robot of the invention；
Fig. 2 is the explosive view of mechanism shown in FIG. 1；
Fig. 3 is a kind of snakelike joint for single hole minimally invasive robot of the invention and snakelike skeleton connection diagram；
Fig. 4-1 is that the action under a kind of a kind of working condition in snakelike joint for single hole minimally invasive robot of the invention is shown
It is intended to；
Fig. 4-2 is the action under a kind of another working condition in snakelike joint for single hole minimally invasive robot of the invention
Schematic diagram；
Fig. 4-3 is the action under a kind of another working condition in snakelike joint for single hole minimally invasive robot of the invention
Schematic diagram；
Fig. 5 is a kind of snakelike articulation mechanism for single hole minimally invasive robot of the invention under three typical working conditions
Action schematic diagram；
Fig. 6 is a kind of working state schematic representation of the snakelike articulation mechanism of the present invention in single hole minimally invasive robot；
Specific embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described in detail.
A kind of snakelike joint for single hole minimally invasive robot of the present invention as shown in drawings, it includes elastic sheet 1-
2, the elastic sheet 1-2 include upper strata elastic sheet 2-2, the upper strata elastic sheet 2-2 and lower floor elastic sheet 2-4
Fasten and be connected and form intermediate channel, the upper strata elastic sheet 2-2 and lower floor elastic sheet 2-4 into conjugate curves structure,
Middle elastic thin slice 2-3 is slidably connected in the intermediate channel, the upper strata elastic sheet 2-2 and lower floor's elastic sheet
2-4 is made of Nitinol.The rear portion of the middle elastic thin slice 2-3 is driven by middle level link block 2-5 and linear motion
Source is connected, and the power of the linear motion driving source can come from hand-drive or linear drive motor etc..Linear motion drives
The opposite Curvature varying slided to control upper strata elastic sheet and lower floor's elastic sheet of dynamic source control middle elastic thin slice 2-3,
Realize corresponding bending motion.
When elastic sheet 1-2 is installed, first upper strata elastic sheet 2-2 and lower floor elastic sheet 2-4 is fastened, is formed after fastening
One hollow duct, then will be within the thin 2-3 pieces push-in duct of middle elastic.
A kind of snakelike articulation mechanism for single hole minimally invasive robot of the present invention as shown in drawings, it includes described
Snakelike joint and snakelike skeleton structure, the snakelike skeleton structure includes multiple structures identical serpentine sector 3-1, each
A serpentine sector 3-1 includes the ontology that centre has hollow channel, and the preferred ontology is torus, Ke Yi
While coating elastic sheet completely, the movement of elastomer is not had an impact, and can effectively be carried for subsequent mechanical structure
For silk channel, in order to the driving of subsequent mechanical structure.Uniform intervals are provided with multigroup silk and lead on the inner wall of the ontology
Road 3-2, every group of silk channel are made of two wire through-holes, and the axis of the multigroup channel is parallel with body axis, in figure
Shown inner wall is evenly distributed with six groups of silk channels.
By the way that sequentially rotation connection forms snakelike skeleton structure 1-1, such as Fig. 3 before and after straight pin 5-1 between multiple serpentine sectors
It is shown, link there are two axisymmetric installations, adjacent two snakes are distinguished on the both sides of the face of each serpentine sector 3-1
Link on shape unit 3-1 before and after straight pin 5-1 by being sequentially rotatablely connected.Multigroup channel 3-2 is used for across steel wire, with
Control the movement of forepart binding clip 6-3 being connected with front end fixing sleeve 2-1.Existing structure may be used in the arrangement of steel wire,
The hollow channel of multiple serpentine sector 3-1 collectively constitutes serpentine channel.The elastic sheet 1-2 in the snakelike joint is mounted on snake
In shape channel, the opposite movement slided to control snakelike skeleton structure of linear motion driving source control middle elastic thin slice 2-3.
During snakelike joint installation, after entire elastic sheet 1-2 is placed in snakelike skeleton structure, support is formed.
Fig. 4-Isosorbide-5-Nitrae-2,4-3 is respectively a kind of three kinds of typical works in snakelike joint for single hole minimally invasive robot of the invention
Make status diagram.In Fig. 4-1, shown elastic element is the original state of work.Upper strata elastic sheet and lower floor's elasticity
Thin slice fastens, and forms the curve shape being pre-designed, centre is there are intermediate channel, by the middle elastic thin slice of opposite curve structure
It is fully inserted therein, then due to the internal stress of the two and bending direction are antipodal, three thin slices are after superposition at this time
Linear state can be formed, middle elastic thin slice is located at initial position.In Fig. 4-2, shown elastic element is due to middle elastic
Thin slice slides backward, and the front end of entire elastic sheet restores not fold due to losing opposite internal stress and warp architecture, front end
Add the state of middle elastic thin slice, and the AB at rear portion sections, due to the presence of middle elastic thin slice, inside still has certain opposite interior
Stress, therefore it is still maintained at certain plateau.In Fig. 4-3, shown elastic element is due to middle elastic thin slice
Further slip, the front end of integral, flexible thin slice is lifted completely, if moving backward middle elastic thin slice, entire Thin Elastic
Piece can restore reset condition completely.
Fig. 5 is a kind of snakelike skeleton structure of snakelike articulation mechanism for single hole minimally invasive robot of the invention in elastic sheet
Three kinds of typical motion states under driving.State 1 is original state, at this time middle elastic thin slice and upper strata elastic sheet and lower floor
Elastic sheet fits like a glove.State 2,3 is after middle elastic thin slice slides backward respectively, and snakelike skeleton structure is in elastic sheet
Lower the formed motion state of driving.
Fig. 6 is a kind of snakelike articulation mechanism for single hole minimally invasive robot of the invention in picture system and train of mechanism
Using the operating diagram of work.When in use, in the front and back end of the snakelike skeleton structure 1-1, fixation connects the present apparatus respectively
Front end fixing sleeve 2-1 and rear end fixing sleeve are connected to, while the front side of front end fixing sleeve is connected with front end tool, that is, forepart binding clip 6-3
It connects, and the rear side of rear end fixing sleeve 2-7 is connected with branch sleeve 2-6 and passes through branch sleeve and rear portion tool rod piece 1-3 shapes
Into connection.The linear motion driving source passes through rear end fixing sleeve 2-7, branch sleeve 2-6 and rear portion tool rod piece 1-3 to set
It puts, on picture system, a kind of snakelike articulation mechanism for single hole minimally invasive robot of the invention is used in the rear portion of endoscope, is
Endoscope provides multivariant movement.In train of mechanism, a kind of snakelike pass for single hole minimally invasive robot of the invention
It saves mechanism and is used for tool tong back of head so that instrument can form operation triangle in single hole operation, avoid instrument and touch in vivo
The problem of hitting.
Schematically the present invention and embodiments thereof are described above, this describes no restricted, institute in attached drawing
Only one of the embodiments of the present invention shown, practical structure is also not limited thereto.If those skilled in the art by
It is enlightened, without departing from the spirit of the invention, transmission, driving device and the connection mode taken other form
The frame mode similar to the technical solution and embodiment are not inventively designed, is within the scope of protection of the invention.
Claims (2)
1. a kind of snakelike joint for single hole minimally invasive robot, it is characterised in that:It includes elastic sheet, the Thin Elastic
Piece includes upper strata elastic sheet, and the upper strata elastic sheet is fastened with lower floor elastic sheet to be connected and form intermediate channel, institute
For the upper strata elastic sheet stated with lower floor's elastic sheet into conjugate curves structure, middle elastic thin slice is slidably connected at the centre
In channel, the upper strata elastic sheet and lower floor's elastic sheet are made of Nitinol, after the middle elastic thin slice
Portion is connected by middle level link block with linear motion driving source, the opposite slip of linear motion driving source control middle elastic thin slice
To control the Curvature varying of upper strata elastic sheet and lower floor's elastic sheet, corresponding bending motion is realized.
2. a kind of snakelike articulation mechanism for single hole minimally invasive robot using snakelike joint described in claim 1, special
Sign is:It includes snakelike joint and snakelike skeleton structure, and the snakelike joint includes elastic sheet, the Thin Elastic
Piece includes upper strata elastic sheet, and the upper strata elastic sheet is fastened with lower floor elastic sheet to be connected and form intermediate channel, institute
For the upper strata elastic sheet stated with lower floor's elastic sheet into conjugate curves structure, middle elastic thin slice is slidably connected at the centre
In channel, the upper strata elastic sheet and lower floor's elastic sheet are made of Nitinol, after the middle elastic thin slice
Portion is connected by middle level link block with linear motion driving source, and the snakelike skeleton structure includes identical snakelike of multiple structures
Unit, each serpentine sector include the ontology that a centre has hollow channel, on the inner wall of the ontology uniformly
Multigroup channel is arranged at intervals with, every group of silk channel is made of two wire through-holes, axis and the sheet of the multigroup channel
Body axis is parallel, and multigroup channel is used for across steel wire, passes through sequentially rotation connection group before and after straight pin between multiple serpentine sectors
Into snakelike skeleton structure, the hollow channel of multiple serpentine sectors collectively constitutes serpentine channel, the Thin Elastic in the snakelike joint
Piece is mounted in serpentine channel, and the opposite of linear motion driving source control middle elastic thin slice is slided to control snakelike skeleton structure
Movement.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610548724.9A CN106073897B (en) | 2016-07-12 | 2016-07-12 | A kind of snakelike joint and its mechanism for single hole minimally invasive robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610548724.9A CN106073897B (en) | 2016-07-12 | 2016-07-12 | A kind of snakelike joint and its mechanism for single hole minimally invasive robot |
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| CN106073897A CN106073897A (en) | 2016-11-09 |
| CN106073897B true CN106073897B (en) | 2018-06-19 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110269682B (en) * | 2018-03-14 | 2020-09-01 | 深圳市精锋医疗科技有限公司 | Connecting assembly, operating arm, slave operating equipment and surgical robot |
| CN110269692B (en) * | 2018-03-14 | 2021-01-05 | 深圳市精锋医疗科技有限公司 | Connecting assembly, operating arm, slave operating equipment and surgical robot |
| CN110269689B (en) * | 2018-03-14 | 2021-01-05 | 深圳市精锋医疗科技有限公司 | Connecting assembly, operating arm, slave operating equipment and surgical robot |
| CN109172130B (en) * | 2018-08-30 | 2023-06-13 | 上海西地众创空间管理有限公司 | Medical robot for myopia operation |
| CN109700537B (en) * | 2018-12-29 | 2021-07-30 | 天津大学 | Flexible surgical instrument, operation arm system and minimally invasive surgery robot slave hand system |
| CN110522517A (en) * | 2019-09-16 | 2019-12-03 | 西安交通大学医学院第一附属医院 | A kind of Minimally Invasive Surgery mechanical arm under the environment for single-hole laparoscopic |
| CN111603243B (en) * | 2020-06-30 | 2021-11-16 | 天津大学 | Minimally invasive surgery robot operating tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI451855B (en) * | 2008-06-25 | 2014-09-11 | Medical Intubation Tech Corp | Endoscopic swing device |
| WO2012144875A2 (en) * | 2011-04-21 | 2012-10-26 | 주식회사 모바수 | Minimally invasive surgical instrument implementing a motor |
| CN104814792B (en) * | 2015-04-01 | 2017-03-08 | 上海交通大学 | Separable multi-arm software robot arm device |
| CN105287002B (en) * | 2015-12-02 | 2017-10-27 | 吉林大学 | A kind of robot assisted Minimally Invasive Surgery micro- apparatus of Flexible Multi-joint operation |
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Address after: 300350 Haijing garden, Haihe Education Park, Jinnan, Tianjin, 135, Tianjin University. Patentee after: Tianjin University Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University |