CN106377318A - Spatial motion serial three-degree-of-freedom mechanism realized by spine minimally invasive surgery robot - Google Patents
Spatial motion serial three-degree-of-freedom mechanism realized by spine minimally invasive surgery robot Download PDFInfo
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- CN106377318A CN106377318A CN201611034651.8A CN201611034651A CN106377318A CN 106377318 A CN106377318 A CN 106377318A CN 201611034651 A CN201611034651 A CN 201611034651A CN 106377318 A CN106377318 A CN 106377318A
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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
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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
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B2017/564—Methods for bone or joint treatment
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Abstract
The invention provides a spatial motion serial three-degree-of-freedom mechanism realized by a spine minimally invasive surgery robot and relates to the spatial motion serial three-degree-of-freedom mechanism. The invention aims to solve the problems of the prior art that the robot needs to accurately position the positions and postures of several spine sections at one time in the spine minimally invasive surgery and the demand on the robot working space is higher. The spatial motion serial three-degree-of-freedom mechanism comprises a mechanical arm base, a feeding rotary joint and a pitching joint, wherein the feeding rotary joint is inserted into the mechanical arm base and the pitching joint is arranged at an output end of the feeding rotary joint. The spatial motion serial three-degree-of-freedom mechanism belongs to the field of medical robot.
Description
Technical field
The present invention relates to the Three Degree Of Freedom mechanism of space motion series connection is and in particular to minimally invasive spine surgical robot realizes sky
Between move the Three Degree Of Freedom mechanism of series connection, belong to medical robot field.
Background technology
Traditional minimally invasive spine surgical is all to take pictures realization by doctor's rich experience and multiple X-ray machine, so not only
There is higher requirement to the technology of doctor, simultaneously because multiple X-ray machine is taken pictures brings serious radiation to doctor and patient.Increasingly
Many domestic and international expert, scholar begin one's study robot assisting doctor to be performed the operation, and robot needs once to be accurately positioned several
The position of individual spinal column intercept and attitude, so there be larger requirement it is therefore desirable to provide operating robot to robot working space
The Three Degree Of Freedom mechanism of different end operation tools can be changed.
Content of the invention
The present invention cuts to solve robot in prior art minimally invasive spine surgical and needing once to be accurately positioned several spinal columns
The position of section and attitude, have the problem of larger requirement to robot working space, and then provide minimally invasive spine surgical robot real
The Three Degree Of Freedom mechanism of existing space motion series connection.
The present invention is to solve the above problems to adopt the technical scheme that：It includes mechanical arm pedestal 1, feeding rotary joint 2
With pitching joint 3, feed rotary joint 2 and be inserted on mechanical arm pedestal 1, pitching joint 3 is arranged on the defeated of feeding rotary joint 2
Go out on end.
The invention has the beneficial effects as follows：
1st, in the present invention, the installation groove 3-9 in pitching joint 3 can make one with install sensor, other module and apparatus
Operating robot can realize several functions, make machine have performance accuracy high per capita, the advantage of stability simultaneously.
2nd, Three Degree Of Freedom mechanism of the present invention, in spinal surgical procedure, can once be accurately positioned the position of several spinal column intercepts
Put and attitude, the present invention adopts cascade, have the advantages that work space is big, motion is flexible, positioning appearance is accurate, meets spinal column
The feature of clinical demand.
Brief description
Fig. 1 is overall structure front view of the present invention, and Fig. 2 is A-A direction view in Fig. 1, and Fig. 3 is that overall structure of the present invention is illustrated
Figure.
Specific embodiment
Specific embodiment one：In conjunction with Fig. 1-Fig. 3, present embodiment, minimally invasive spine surgical machine described in present embodiment are described
Device people realizes the Three Degree Of Freedom mechanism of space motion series connection, and it includes mechanical arm pedestal 1, feeding rotary joint 2 and pitching joint
3, feeding rotary joint 2 is inserted on mechanical arm pedestal 1, and pitching joint 3 is arranged on the outfan of feeding rotary joint 2.
In present embodiment, mechanical arm pedestal 1 is played a supporting role it is possible to be connected with other mechanisms, expands degree of freedom.
Specific embodiment two：In conjunction with Fig. 1-Fig. 3, present embodiment, minimally invasive spine surgical machine described in present embodiment are described
Device people realizes the Three Degree Of Freedom mechanism of space motion series connection, and feeding rotary joint 2 includes the first motor 2-1, the first motor is installed
Plate 2-2, the first synchronous pulley 2-3, Timing Belt 2-4, feeding block 2-5, precision ball screw ball spline shaft 2-6, second with
Step belt wheel 2-7, ball-screw portion 2-8, precision ball screw ball spline mounting seat 2-9, ball spline portion 2-10, first gear
2-11, linear bearing 2-12, stroke shaft connecting seat 2-13, stroke shaft connect tensioner 2-14, linear bearing gland 2-15, stroke
Axle 2-16, pitching motor 2-17, the second motor 2-18 and second gear 2-19, precision ball screw ball spline mounting seat 2-9
For circular sleeve, stroke shaft 2-16 is hollow axle, and ball-screw portion 2-8 is arranged on precision ball screw ball spline mounting seat 2-
On 9 one end, ball spline portion 2-10 is arranged on the first motor 2-1, and ball spline portion 2-10 is near precision ball screw
The other end of ball spline mounting seat 2-9 is arranged in precision ball screw ball spline mounting seat 2-9, and precision ball screw
The other end of ball spline mounting seat 2-9 is arranged on one end of mechanical arm pedestal 1 installing hole, and linear bearing 2-12 is arranged on machine
Tool arm pedestal 1 installs in the hole, and linear bearing gland 2-15 is arranged on the other end of mechanical arm pedestal 1 installing hole, stroke shaft 2-
16 one end is arranged in linear bearing 2-12 through linear bearing gland 2-15, and the second synchronous pulley 2-7 is near ball-screw
Portion 2-8 is arranged, and one end of precision ball screw ball spline shaft 2-6 is arranged on one end of stroke shaft 2-16 in linear bearing 2-12
On, the other end of precision ball screw ball spline shaft 2-6 sequentially passes through first gear 2-11, ball spline portion 2-10 ball wire
Thick stick portion 2-8 and the second synchronous pulley 2-7 setting, and the other end of precision ball screw ball spline shaft 2-6 is provided with feeding gear
Block 2-5, the first motor mounting plate 2-2 is arranged on precision ball screw ball spline mounting seat 2-9 near the second synchronous pulley 2-7
On, the first motor 2-1 is arranged on the first motor mounting plate 2-2, and is provided with the first Timing Belt on the first motor 2-1 output shaft
Wheel 2-3, the first synchronous pulley 2-3 and the second synchronous pulley 2-7 are connected by Timing Belt 2-4, and the second motor 2-18 is near first
Gear 2-11 is arranged on mechanical arm pedestal 1, and second gear 2-19 is arranged on the output shaft of the second motor 2-18, and second
Gear 2-19 is engaged with first gear 2-11, and pitching motor 2-17 is arranged in the other end of stroke shaft 2-16, other compositions and
Annexation is identical with specific embodiment one.
Specific embodiment three：In conjunction with Fig. 1-Fig. 3, present embodiment, minimally invasive spine surgical machine described in present embodiment are described
Device people realizes the Three Degree Of Freedom mechanism of space motion series connection, and pitching joint 3 includes harmonic speed reducer 3-1, power transmission shaft 3-2, pitching
Socket joint 3-3, first bevel gear 3-4, bearing group 3-5, second bevel gear 3-6, left connector 3-7 and right connector 3-8, transmission
Axle 3-2 is arranged in pitching socket joint 3-3, and bearing group 3-5 is sleeved on power transmission shaft 3-2 near one end of power transmission shaft 3-2, harmonic wave
Decelerator 3-1 is sleeved on the other end of power transmission shaft 3-2, and first bevel gear 3-4 is sleeved on power transmission shaft 3-2, and the first cone tooth
Wheel 3-4 is located between bearing group 3-5 harmonic decelerator 3-1, and one end of right connector 3-8 is arranged on biography near bearing group 3-5
On one end of moving axis 3-2, one end of left connector 3-7 is arranged on harmonic speed reducer 3-1, the other end of left connector 3-7 and
The other end of right connector 3-8 is fixedly connected one ' U ' shape part of composition, and left connector 3-7 and right connector 3-8 junction add
Work has installation groove 3-9, and second bevel gear 3-6 is arranged in pitching socket joint 3-3 near first bevel gear 3-4, pitching motor
The output shaft of 2-17 is arranged in second bevel gear 3-6, and second bevel gear 3-6 and the engagement of first bevel gear 3-4, other compositions
And annexation is identical with specific embodiment two.
Operation principle
Pass through the first synchronous pulley 2-3, Timing Belt 2-4 and the second synchronous pulley during the first motor 2-1 output in the present invention
2-7 drives ball-screw portion 2-8 rotation, and then drives stroke shaft 2-16 to carry out by precision ball screw ball spline shaft 2-6
Feed motion, drives ball spline portion 2-10 when the second motor 2-18 output by second gear 2-19 and first gear 2-11
Rotation, and then drive stroke shaft 2-16 to carry out circular motion by precision ball screw ball spline shaft 2-6, as the first motor 2-
1 and second motor 2-18 drive stroke shaft 2-16 to carry out spiral by precision ball screw ball spline shaft 2-6 when exporting simultaneously
Motion, in the present invention, pitching joint 3 provides power output by pitching motor 2-17, and pitching motor 2-17 passes through second bevel gear
3-6, first bevel gear 3-4 and power transmission shaft 3-2 deliver power to harmonic speed reducer 3-1, carry out deceleration increment, harmonic speed reducer
3-1 drives left connector 3-7 and right connector 3-8 to do elevating movement, and then reaches the purpose of the present invention.
Claims (3)
1. minimally invasive spine surgical robot realize space motion series connection Three Degree Of Freedom mechanism it is characterised in that：It includes machinery
Arm pedestal (1), feeding rotary joint (2) and pitching joint (3), feeding rotary joint (2) is inserted on mechanical arm pedestal (1),
Pitching joint (3) is arranged on the outfan of feeding rotary joint (2).
2. minimally invasive spine surgical robot realizes the Three Degree Of Freedom mechanism of space motion series connection according to claim 1, and it is special
Levy and be：Feeding rotary joint (2) includes the first motor (2-1), the first motor mounting plate (2-2), the first synchronous pulley (2-
3), Timing Belt (2-4), feeding block (2-5), precision ball screw ball spline shaft (2-6), the second synchronous pulley (2-7), rolling
Ballscrew portion (2-8), precision ball screw ball spline mounting seat (2-9), ball spline portion (2-10), first gear (2-
11), linear bearing (2-12), stroke shaft connecting seat (2-13), stroke shaft connect swelling part (2-14), linear bearing gland (2-
15), stroke shaft (2-16), pitching motor (2-17), the second motor (2-18) and second gear (2-19), precision ball screw rolls
Spline mounting seat (2-9) is circular sleeve, and stroke shaft (2-16) is hollow axle, and ball-screw portion (2-8) is arranged on accurate rolling
On one end of ballscrew ball spline mounting seat (2-9), ball spline portion (2-10) is arranged on the first motor (2-1), and rolls
Spline portion (2-10) is arranged on precision ball screw rolling near the other end of precision ball screw ball spline mounting seat (2-9)
In spline mounting seat (2-9), and the other end of precision ball screw ball spline mounting seat (2-9) is arranged on mechanical arm pedestal
(1), on one end of installing hole, linear bearing (2-12) is arranged on mechanical arm pedestal (1) and installs in the hole, linear bearing gland (2-
15) it is arranged on the other end of mechanical arm pedestal (1) installing hole, one end of stroke shaft (2-16) passes through linear bearing gland (2-
15) it is arranged in linear bearing (2-12), the second synchronous pulley (2-7) is arranged near ball-screw portion (2-8), precise ball silk
Stroke shaft connecting seat (2-13) is passed through in one end of thick stick ball spline shaft (2-6) and stroke shaft connects swelling part (2-14) and is arranged on directly
Bobbin holds on one end of (2-12) interior stroke shaft (2-16), and the other end of precision ball screw ball spline shaft (2-6) is worn successively
Cross first gear (2-11), (2-10) ball-screw portion of ball spline portion (2-8) and the second synchronous pulley (2-7) setting, and essence
The other end of close ball-screw ball spline shaft (2-6) is provided with feeding block (2-5), and the first motor mounting plate (2-2) is close
Second synchronous pulley (2-7) is arranged on precision ball screw ball spline mounting seat (2-9), and the first motor (2-1) is arranged on
On first motor mounting plate (2-2), and the first synchronous pulley (2-3) is provided with the first motor (2-1) output shaft, first is synchronous
Belt wheel (2-3) and the second synchronous pulley (2-7) pass through Timing Belt (2-4) and connect, and the second motor (2-18) is near first gear (2-
11) it is arranged on mechanical arm pedestal (1), and second gear (2-19) is arranged on the output shaft of the second motor (2-18), and the
Two gears (2-19) are engaged with first gear (2-11), and pitching motor (2-17) is arranged in the other end of stroke shaft (2-16).
3. minimally invasive spine surgical robot realizes the Three Degree Of Freedom mechanism of space motion series connection according to claim 2, and it is special
Levy and be：Pitching joint (3) includes harmonic speed reducer (3-1), power transmission shaft (3-2), pitching socket joint (3-3), first bevel gear
(3-4), bearing group (3-5), second bevel gear (3-6), left connector (3-7) and right connector (3-8), power transmission shaft (3-2) sets
Put in pitching socket joint (3-3), bearing group (3-5) is sleeved on power transmission shaft (3-2) near one end of power transmission shaft (3-2), humorous
Ripple decelerator (3-1) is sleeved on the other end of power transmission shaft (3-2), and first bevel gear (3-4) is sleeved on power transmission shaft (3-2),
And first bevel gear (3-4) is located between bearing group (3-5) harmonic decelerator (3-1), one end of left connector (3-7) is close
Bearing group (3-5) is arranged on one end of power transmission shaft (3-2), and one end of right connector (3-8) is arranged on harmonic speed reducer (3-1)
On, the other end of left connector (3-7) is fixedly connected one ' U ' shape part of composition with the other end of right connector (3-8), and left company
Fitting (3-7) and right connector (3-8) junction are machined with installation groove (3-9), and second bevel gear (3-6) is near the first cone tooth
Wheel (3-4) is arranged in pitching socket joint (3-3), and the output shaft of pitching motor (2-17) is arranged in second bevel gear (3-6),
And second bevel gear (3-6) and first bevel gear (3-4) engagement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611034651.8A CN106377318B (en) | 2016-11-22 | 2016-11-22 | Minimally invasive spine surgical robot realizes the concatenated Three Degree Of Freedom mechanism of spatial movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611034651.8A CN106377318B (en) | 2016-11-22 | 2016-11-22 | Minimally invasive spine surgical robot realizes the concatenated Three Degree Of Freedom mechanism of spatial movement |
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| Publication Number | Publication Date |
|---|---|
| CN106377318A true CN106377318A (en) | 2017-02-08 |
| CN106377318B CN106377318B (en) | 2018-09-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611034651.8A Active CN106377318B (en) | 2016-11-22 | 2016-11-22 | Minimally invasive spine surgical robot realizes the concatenated Three Degree Of Freedom mechanism of spatial movement |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107854779A (en) * | 2017-11-22 | 2018-03-30 | 中国科学院上海应用物理研究所 | A kind of radiotherapy robot therapeutic bed of SCARA structures |
| CN114748170A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Main manipulator for endoscope type minimally invasive surgery robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016043845A1 (en) * | 2014-09-15 | 2016-03-24 | Covidien Lp | Robotically controlling surgical assemblies |
| US20160120606A1 (en) * | 2014-11-05 | 2016-05-05 | Aktormed Gmbh | Operation assistance system |
| CN105997249A (en) * | 2016-04-26 | 2016-10-12 | 哈尔滨工业大学 | Hybrid mechanism with five freedom degrees, capable of implementing spatial three-dimensional positioning and two-dimensional orientation |
-
2016
- 2016-11-22 CN CN201611034651.8A patent/CN106377318B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016043845A1 (en) * | 2014-09-15 | 2016-03-24 | Covidien Lp | Robotically controlling surgical assemblies |
| US20160120606A1 (en) * | 2014-11-05 | 2016-05-05 | Aktormed Gmbh | Operation assistance system |
| CN105997249A (en) * | 2016-04-26 | 2016-10-12 | 哈尔滨工业大学 | Hybrid mechanism with five freedom degrees, capable of implementing spatial three-dimensional positioning and two-dimensional orientation |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107854779A (en) * | 2017-11-22 | 2018-03-30 | 中国科学院上海应用物理研究所 | A kind of radiotherapy robot therapeutic bed of SCARA structures |
| CN114748170A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Main manipulator for endoscope type minimally invasive surgery robot |
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| Publication number | Publication date |
|---|---|
| CN106377318B (en) | 2018-09-11 |
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Effective date of registration: 20220707 Address after: 150060 No. 8, Dalian north road, haping road concentration area, economic development zone, Pingfang District, Harbin, Heilongjiang Province Patentee after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150001 No. 92 West straight street, Nangang District, Heilongjiang, Harbin Patentee before: HARBIN INSTITUTE OF TECHNOLOGY |
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