CN106214257B - A kind of micro-wound operation robot main operation platform - Google Patents
A kind of micro-wound operation robot main operation platform Download PDFInfo
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- CN106214257B CN106214257B CN201610536549.1A CN201610536549A CN106214257B CN 106214257 B CN106214257 B CN 106214257B CN 201610536549 A CN201610536549 A CN 201610536549A CN 106214257 B CN106214257 B CN 106214257B
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Abstract
The invention discloses a kind of micro-wound operation robot main operation platforms, it includes pedestal, lifting platform is vertically connected with by screw pair on pedestal, image display system and support ring arm are respectively and fixedly installed to the upside of lifting platform, left and right two main manipulators are separately fixed on the left and right sides boss of support ring arm front end, and the structure of two main manipulators is identical and includes position adjustment structure and pose adjustment structure two parts.The present apparatus integrate image show, move manipulation etc. it is multi-functional, advantageously reduce the structural complexity of robot, improve the operable comfort of robot, it can be achieved that grand movement and flexibility manipulation.
Description
Technical field
The present invention relates to a kind of main operation platforms of minimally invasive surgical operation robot, more particularly to a kind of to be used for splanchnocoel
The doctor terminal master operation platform of minimally invasive surgical operation robot.
Background technology
Minimally invasive surgery is known as significant contribution one of of the 21 century medical domain to human civilization, and Minimally Invasive Surgery refers to utilizing
A kind of surgical procedure that the Medical Devices of the modernizations such as chest, laparoscope and mating instrument are carried out.Compared with open surgery, minimally invasive hand
Art has many advantages, such as that operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time is fast, this makes the pain that patient is subjected to big
For reduce, it helps reduce patient overall operation spend, therefore, in recent years minimally invasive surgery be more and more widely used in
In clinical operation.However, while Minimally Invasive Surgery brings many interests for patient, but the operation of doctor is brought a series of tired
Difficulty, such as：The shortcomings of instrument flexibility reduction, eye hand coordination are poor, the training period is long, this, which becomes, restricts minimally invasive surgery technology development
Key factor.With the development of robot technology, the micro-wound operation robot of disadvantages mentioned above can be effectively overcome to come into being.
During robot assisted micro-wound surgical operation, complicated surgical environments and operation task require doctor to have length
Time Manipulation of the machine people implement surgical operation ability, meanwhile, also require robot main operation device have higher reliability,
Flexibility and operating comfort.Commercialized main operation device mainly have Sensable companies of the U.S. Phantom and
The Omega etc. of ForceDimension companies of Switzerland.However, there is poor structure rigidity, movement more in the main operation equipment to have emerged
The shortcomings of range is small, and be only capable of using as motion input device.Therefore, it develops a set of novel micro- with independent intellectual property right
Invasive procedures robot main operation device is especially developed and a kind of integrating the multiple functions such as visual pattern, movement manipulation
Minimally invasive robot main operation platform has very important research significance and practical value.
Invention content
It is an object of the invention to overcome the shortcomings of prior art, providing a kind of having elastic self-balancing ability, significantly
Space, and the multi-functional minimally invasive robot main operation platform such as integrate image, movement output.
In order to achieve the above object, the technical solution adopted by the present invention is：
A kind of micro-wound operation robot main operation platform of the present invention, it includes pedestal, is passed through on the pedestal
Screw pair is vertically connected with lifting platform, and image display system and support ring arm are respectively and fixedly installed to the upside of lifting platform,
Left and right two main manipulators being fixed on the left and right sides boss of support ring arm front end respectively symmetrically, two main manipulators
Structure is identical and includes position adjustment structure and pose adjustment structure two parts, the position adjustment structure packet described in each
Include the main hand pedestal being fixedly mounted on the side boss of support ring arm, what the one end connecting rod I and main hand pedestal rotated be connected and
The other end with joint II rotate be connected, the joint II front end is provided with cylindrical section, described joint II
Cylindrical section by bearing I with joint III rotate be connected and be set with counterbalancing torsion springs on the cylindrical section, it is described
The both ends of counterbalancing torsion springs be respectively inserted into joint II, in the pin hole that opens up on the III seats of joint, described joint III
One end of one side end face and connecting rod II are fixedly linked and fixed on another side end face for being oppositely arranged with a side end face
Have a clump weight, torsion direction and the pose adjustment structure of counterbalancing torsion springs bring by joint II and joint III rotate form
Joint III gravitational moment direction on the contrary, the counterbalancing torsion springs twisting force and clump weight assisted gravity trim effect
Combination realizes that joint III is in the equalising torque under connecting rod II horizontality, and the pose adjustment structure includes being fixed on institute
The output shaft of the motor I of the other end of the connecting rod II stated, the one end connecting rod III and motor I are fixedly linked and the other end is fixed with
Motor II, one end of the output shaft and connecting rod IV of the motor II are fixedly linked, the other end and the connecting rod V rotations of connecting rod IV
It is connected, lever rear end is connected with what connecting rod V rotated；One folding component include be fixed on lever front end from swivel base, folding connects
Joint chair is connected by bearing I I with what is rotated from swivel base, and the front end protrusion of slip base plugs together the guide chute in folding connecting seat
In, make slip base that can be oriented to elongated slot along folding connecting seat and realize that linear slide, rationed marketing are vertically fixed on folding connecting seat, moves pin
It is vertically fixed on the rear end of slip base, the both ends of extension spring are hooked on respectively in rationed marketing, the dynamic intermediate groove sold, described
Folding the medianly zygomorphic of connecting seat is connected with the identical left folding valve of structure and right folding valve, before each folding valve
It holds and is connected with what the straight pin of respective side rotated, the straight pin is symmetrically fixed on the left and right sides of folding connecting seat, institute
The one end of the rear end of the left folding valve and right folding valve stated respectively by a round end pin and the folding connecting rod of corresponding side is hinged
Rotation is connected, and the folding connecting rod other end is connected with another round end pin hinging rotary being fixed on slip base, the electricity
The axis of machine I output shafts, the axis of output shaft of motor II, the rotation axis of lever and connecting rod V jante et perpendiculaire in
A bit.
Compared with prior art, a kind of micro-wound operation robot main operation platform of the invention has following advantageous effect：
1. the present invention a kind of micro-wound operation robot main operation platform collect image show, move manipulate etc. it is multi-functional in
One, advantageously reduces the structural complexity of robot.
2. a kind of image display system of micro-wound operation robot main operation platform of the present invention has elevating function, can
It needs to be adjusted according to doctor, improves the operable comfort of robot.
3. a kind of main manipulator of micro-wound operation robot main operation platform of the present invention has Three Degree Of Freedom position tune
Whole plus four-degree-of-freedom pose adjustment topology layout is, it can be achieved that grand movement and flexibility manipulation.
4. a kind of main manipulator of micro-wound operation robot main operation platform of the present invention introduces the combination that spring adds counterweight
Balanced mode effectively reduces the movement inertia of mechanism in the premise for meeting the requirement of main manipulator gravitational equilibrium.
Description of the drawings
Fig. 1 is a kind of overall structure diagram of micro-wound operation robot main operation platform of the present invention；
Fig. 2 is a kind of main manipulator overall structure diagram of micro-wound operation robot main operation platform of the present invention；
Fig. 3 is a kind of main manipulator position adjustment structure signal of micro-wound operation robot main operation platform of the present invention
Figure；
Fig. 4 is a kind of main manipulator pose adjustment structural representation of micro-wound operation robot main operation platform of the present invention
Figure；
Fig. 5 is that a kind of main manipulator of micro-wound operation robot main operation platform of the present invention opens and closes modular construction signal
Figure；
Fig. 6 is a kind of practical operation chart of micro-wound operation robot main operation platform of the present invention；
Wherein：
1-2-image display system of main manipulator, 3-support ring arm 4-lifting platform, 5-pedestal
6-7-seats of doctor
1-1-position adjustment structure 1-2- pose adjustment structures
101-104-joint III seats of main hand pedestal 102-connecting rod I, 103-joint II seats, 105-bearing I
106-capping I 107-connecting rod II 108-counterbalancing torsion springs, 109-clump weights
201-204-levers of connecting rod III 202-connecting rod IV 203-connecting rod V, 205-folding components
206-motor 207-motors of I II
301-cover II from 304-baffle rings of swivel base 302-folding connecting seat 303-bearing I I 305-
309-extension spring of the dynamic pin of 306-307-slip bases of rationed marketing 308-310-left folding valve
311-312-round end of straight pin pin, 313-folding connecting rod 314-right folding valves
R-lifting degree of freedom R1-joint I rotary freedoms R2-joint II rotary freedoms
R3-joint III rotary freedoms s1-the first driving degree of freedom s2-the second drives degree of freedom
R1-revolution degree of freedom r2-deflection degree of freedom r3-rotation degree of freedom r4-folding degree of freedom
Specific implementation mode
With reference to specific embodiment, the present invention will be described in detail.
A kind of micro-wound operation robot main operation platform as shown in the figure, it includes pedestal 5, on the pedestal 5
It is vertically connected with lifting platform 4 by screw pair, to realize that elevating movement of the lifting platform 4 relative to pedestal 5, image are shown
System 2, support ring arm 3 are respectively and fixedly installed to the upside of lifting platform 4, left and right two main manipulators 1 being fixed on respectively symmetrically
On the left and right sides boss for supporting 3 front end of ring arm, doctor realizes the movement to robot arm by manipulating main manipulator 1
Control.Image display system 2 realizes the lifting degree of freedom R of itself with the one movement of lifting platform 4, and image display system 2 has
Body image-forming principle and structure non-present invention content, therefore be not detailed.
The structure of two main manipulators 1 is identical and includes position adjustment structure 1-1 and pose adjustment structure 1-2 two
Point, the pose adjustment structure 1-2 is mounted on the connecting rod front end of position adjustment structure 1-1.Position adjustment structure 1-1, which has, to close
I rotary freedoms R1, joint II rotary freedoms R2, joint III rotary freedom R3 are saved, the connection of above three degree of freedom is passed through
Rotation is closed, can realize large-scale position adjustment of the pose adjustment structure 1-2 in space, and then can corresponding control robot
Mechanical arm carries out large-scale position movement.There are two driving degree of freedom s1, s2 and four for the pose adjustment structure 1-2 tools
End free degree:Certainly including end revolution degree of freedom r1, end deflection degree of freedom r2, end rotation degree of freedom r3, end folding
By spending r4, wherein the first driving degree of freedom s1, the second driving degree of freedom s2 and end revolution degree of freedom r1, end deflection are freely
The jante et perpendiculaire of r2 is spent in a bit, and the described first driving degree of freedom s1, the second driving degree of freedom s2 are driven by motor
Dynamic control, to realize the initialization correction of pose adjustment structure, by four end free degree r1, r2 of doctor's hand manipulations,
R3, r4 correspond to the movement of the instrument four-degree-of-freedom of control robot arm end respectively.
As shown in figure 3, the position adjustment structure 1-1 described in each includes being fixedly mounted on to support the side of ring arm 3 convex
Main hand pedestal 101 on platform, what the one end connecting rod I102 and main hand pedestal 101 rotated be connected and the other end and joint II seats 103
Rotation is connected, and the front end of the joint II seats 103 is provided with cylindrical section, the cylindrical section of the joint II seats 103 is logical
That crosses that bearing I 105 and joint III seats 104 rotate is connected and is set with counterbalancing torsion springs 108 on the cylindrical section, described
The both ends of counterbalancing torsion springs 108 be respectively inserted into joint II seats 103, in the pin hole opened up on joint III seats 104, be fixed on pass
The capping 106 on III seats 104 is saved to be positioned to bearing I 105.One side end face of the joint III seats 104 and company
One end of bar II107 is fixedly linked and is fixed with clump weight on another side end face for being oppositely arranged with a side end face
109.The torsion direction of counterbalancing torsion springs brings joint III (by joint II seats 103 and joint III with pose adjustment structure 1-2
104 rotation compositions, realize degree of freedom R3) gravitational moment direction on the contrary, the twisting force of the counterbalancing torsion springs 108 is matched in addition
The assisted gravity trim effect combination of pouring weight 109 realizes that joint III is in the equalising torque under connecting rod II107 horizontality.It is main
Joint I rotary freedom R1, connecting rod I102 and joint II seats 103 are realized in relative rotation between hand pedestal 101 and connecting rod I102
Between relative rotation realize joint II rotary freedom R2, the relative rotation between joint II seats 103 and joint III seats 104
Realize joint III rotary freedoms R3.The pose adjustment structure 1-2 includes be fixed on the connecting rod II107 another
The output shaft of the motor I206 at end, the one end connecting rod III201 and motor I206 are fixedly linked and the other end is fixed with motor
One end of II207, the output shaft and connecting rod IV202 of the motor II207 are fixedly linked, the other end of connecting rod IV202 and company
Bar V203 rotations are connected, and 204 rear end of lever is connected with what connecting rod V203 rotated；One folding component 205 includes that fixation is in one's hands
204 front end of handle from swivel base 301, folding connecting seat 302 is connected by bearing I I303 with what is rotated from swivel base 301, baffle ring 304
Be stuck in folding 302 cylindrical section of connecting seat circlip groove in prevent folding connecting seat 302 relative to bearing occur axial float,
Capping II305 is fixed on from swivel base 301 to be positioned to bearing I I303, and the front end protrusion of slip base 307, which plugs together, to be opened
In the guide chute for closing connecting seat 302, makes slip base 307 that can be oriented to elongated slot along folding connecting seat 302 and realize linear slide, rationed marketing
306 vertical fixed (can be connected through a screw thread) are on folding connecting seat 302, and vertically fixation (can be connected dynamic pin 308 by screw thread
Connect) in the rear end of slip base 307, the both ends of extension spring 309 be hooked on respectively rationed marketing 306, dynamic pin 308 intermediate groove in,
Medianly zygomorphic in the folding connecting seat 302 is connected with the identical left folding valve 310 of structure and right folding valve
314, the front end of each folding valve is connected with what the straight pin 311 of respective side rotated, and the straight pin 311 is symmetrically fixed
In the left and right sides of folding connecting seat 302, such as：Interference fit may be used to fix in the pin hole for assigning into folding connecting seat 302,
To make folding valve and open and close being connected for the rotation of connecting seat 302.The rear end point of the left folding valve 310 and right folding valve 314
It is not connected with one end hinging rotary of the folding connecting rod 313 of corresponding side by a round end pin 312, folding connecting rod 313 is another
It holds and is connected with another 312 hinging rotary of round end pin being fixed on slip base 307.The axis of the motor I206 output shafts
Line, the axis of output shaft of motor II207, the rotation axis of lever 204 and connecting rod V203 jante et perpendiculaire in a bit.
In Fig. 4, motor I206, motor II207 output shafts drive connecting rod III201, connecting rod IV202 to realize that first drives respectively
Dynamic degree of freedom s1, the second driving degree of freedom s2.Revolution degree of freedom is realized in relative rotation between connecting rod IV202 and connecting rod V203
R1, deflection degree of freedom r2 is realized in the relative rotation between connecting rod V203, lever 204, between lever 204 and folding component 205
It relatively rotates and realizes rotation degree of freedom r3, folding component 205 itself can realize folding degree of freedom r4.In Fig. 5, two folding valves 310,
314 open when, extension spring 309 extend naturally, at the same to two folding valves 310,314 application pressing forces after, open and close connecting rod 313 push away
Dynamic slip base 307 and dynamic pin 308 are moved to the direction far from rationed marketing 306, and two folding valves are in finally closed state, unclamp pressing force
Afterwards, the close rationed marketing 306 under the recovery force effect of extension spring 309 with slip base 307 of pin 308 is moved, when two folding valves are in open
After state, extension spring 309 is returned to nature elongation state, and the opening of two folding valves 310,314 opens and closes freely with realization is closed
Spend r4.
Fig. 6 is a kind of practical operation chart of micro-wound operation robot main operation platform of the present invention.First adjust seat 7
Position, make doctor 6 with relatively comfortable sitting posture close to master operating station, then adjustment lifting degree of freedom R, makes image display system 2
The height of binocular form adapts to the position on the head and eyes of doctor 6, and the both hands of doctor 6 manage the pose adjustment of main manipulator 1
Structure 1-2, specifically managing mode is：Palm and middle finger, the third finger, little finger hold lever 204, and thumb, index finger are pressed respectively
On the left and right folding valve 310,314 of folding component 205, after the completion of the above-mentioned warming-up exercise of doctor 6, figure can be passed through
As the observation surgical scene information of display system 2, while manipulating main manipulator 1 and carrying out corresponding surgical procedure.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
Only one of the embodiments of the present invention shown, actual 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 type taken other form
Frame mode similar with the technical solution and embodiment are not inventively designed, is within the scope of protection of the invention.
Claims (1)
1. a kind of micro-wound operation robot main operation platform, it is characterised in that:It includes pedestal, is passed through on the pedestal
Screw pair is vertically connected with lifting platform, and image display system and support ring arm are respectively and fixedly installed to the upside of lifting platform,
Left and right two main manipulators being fixed on the left and right sides boss of support ring arm front end respectively symmetrically, two main manipulators
Structure is identical and includes position adjustment structure and pose adjustment structure, and the position adjustment structure described in each includes fixing
Main hand pedestal on the side boss of support ring arm, what the one end connecting rod I and main hand pedestal rotated be connected and the other end
With joint II rotate be connected, the joint II front end is provided with cylindrical section, the joint II cylinder
Section is connected by bearing I and joint III rotation and is set with counterbalancing torsion springs, the balance on the cylindrical section
In the pin hole that the both ends of torsional spring are respectively inserted into joint II, open up on the III seats of joint, a joint III side
One end of face and connecting rod II are fixedly linked and are fixed with counterweight on another side end face for being oppositely arranged with a side end face
Block, torsion direction and the pose adjustment structure of counterbalancing torsion springs bring the joint formed rotated by joint II and joint III
The gravitational moment direction of III is on the contrary, the assisted gravity trim effect combination of the twisting force and clump weight of the counterbalancing torsion springs is real
Existing joint III is in the equalising torque under connecting rod II horizontality, and the pose adjustment structure includes being fixed on the company
The output shaft of the motor I of the other end of bar II, the one end connecting rod III and motor I are fixedly linked and the other end is fixed with motor II,
One end of the output shaft and connecting rod IV of the motor II is fixedly linked, and the other end of connecting rod IV is connected with what connecting rod V rotated, holds
Handle rear end is connected with what connecting rod V rotated；One folding component include be fixed on lever front end from swivel base, folding connecting seat passes through
Bearing I I is connected with what is rotated from swivel base, and the front end protrusion of slip base plugs together in the guide chute of folding connecting seat, makes sliding
Seat can be oriented to elongated slot along folding connecting seat and realize that linear slide, rationed marketing are vertically fixed on folding connecting seat, and it is vertical solid to move pin
It is scheduled on the rear end of slip base, the both ends of extension spring are hooked in rationed marketing, the dynamic intermediate groove sold, connect in the folding respectively
The medianly zygomorphic of joint chair is connected with the identical left folding valve of structure and right folding valve, each folding valve front end with it is right
The straight pin of side is answered to rotate connected, the straight pin is symmetrically fixed on the left and right sides of folding connecting seat, the left side
The rear end of valve and right folding valve is opened and closed respectively by one end hinging rotary phase of a round end pin and the folding connecting rod of corresponding side
Even, the folding connecting rod other end is connected with another round end pin hinging rotary being fixed on slip base, the motor I outputs
The axis of axis, the axis of output shaft of motor II, the rotation axis of lever and connecting rod V jante et perpendiculaire in a bit.
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| CN201610536549.1A CN106214257B (en) | 2016-07-08 | 2016-07-08 | A kind of micro-wound operation robot main operation platform |
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| CN201610536549.1A CN106214257B (en) | 2016-07-08 | 2016-07-08 | A kind of micro-wound operation robot main operation platform |
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| CN106214257B true CN106214257B (en) | 2018-08-28 |
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| DE102017103199A1 (en) * | 2017-02-16 | 2018-08-16 | avateramedical GmBH | HMI device for a robot-assisted surgical system |
| CN107049523A (en) * | 2017-05-08 | 2017-08-18 | 成都中科博恩思医学机器人有限公司 | Operational control component and surgical operation robot system |
| CN107320190A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | The surgeon console of operating robot |
| CN107374742A (en) * | 2017-07-31 | 2017-11-24 | 成都中科博恩思医学机器人有限公司 | The report control platform of executing agency |
| CN108013906A (en) * | 2017-12-01 | 2018-05-11 | 微创（上海）医疗机器人有限公司 | Snakelike operating theater instruments |
| WO2020042148A1 (en) * | 2018-08-31 | 2020-03-05 | 天津大学 | Magnetic navigation sensing-based main operating hand and system of minimally invasive surgical robot |
| CN109452973A (en) * | 2018-11-15 | 2019-03-12 | 山东大学齐鲁医院 | A kind of frame-type assisting minimally invasive single hole operating robot |
| CN111449758B (en) * | 2020-04-09 | 2021-01-26 | 山东大学 | Main manipulator for continuum surgical robot and surgical robot |
| CN113081289B (en) * | 2021-04-06 | 2022-10-25 | 山东威高手术机器人有限公司 | Main operation arm for surgical robot |
| CN113907891A (en) * | 2021-11-08 | 2022-01-11 | 哈尔滨思哲睿智能医疗设备有限公司 | Main manipulator and operation robot control equipment |
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