CN106890026A - A kind of minimally invasive spine surgical robot - Google Patents
A kind of minimally invasive spine surgical robot Download PDFInfo
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- CN106890026A CN106890026A CN201710021734.1A CN201710021734A CN106890026A CN 106890026 A CN106890026 A CN 106890026A CN 201710021734 A CN201710021734 A CN 201710021734A CN 106890026 A CN106890026 A CN 106890026A
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- bearing
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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
-
- 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
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Heart & Thoracic Surgery (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to a kind of minimally invasive spine surgical robot, more particularly to a kind of series-parallel connection minimally invasive spine surgical robot mechanism.Including serial mechanism and parallel-connection structure.Serial mechanism includes fixed platform 1, the first leading screw sleeve 2, passive expansion link 4, the first pivoted arm 6, the second pivoted arm 8, with 3 frees degree, respectively：Mobile 3,5 are rotated, rotate 7.Parallel-connection structure part 9 includes parallel connection platform 10, two side chains 11 1,11 2, leading screw 12, gimbaled platform 13, it may have 3 frees degree.Part in series improves the flexibility of mechanism.Actuator uses parallel institution, compact conformation, small volume to compare and be adapted to be performed the operation under conditions of the spaces such as CT are limited.And parallel institution rigidity is higher, and precision is higher, and bearing capacity is larger, relatively it is adapted to the operation of the minimally invasive spine larger centripetal force of this needs.
Description
Technical field
The present invention relates to a kind of minimally invasive spine surgical robot, more particularly to a kind of series-parallel connection minimally invasive spine surgical robot machine
Structure.
Background technology
Bone surgery is the most art kind of quantity in surgical operation, and spinal surgery is one of them important branch,
The disease such as including wound, infection, deformity of spine, tumour, operation corresponding thereto mainly has pedicle screw internal fixation, warp
Skin vertebroplasty, MED, lumbar discectomy etc..After patient posture is fixed in surgical procedure, subsequent procedures are all referred to
To the implantation of implants, therefore how accurately to seem most important along predefined paths completion implantation process.
The content of the invention
The problem to be solved in the present invention is to provide a kind of series-parallel connection minimally invasive spine surgical robot mechanism, can be by motor
Coordinated adjusts the pose of end effector.
The present invention solve its technical problem use technical scheme be：
A kind of series-parallel connection minimally invasive spine surgical robot mechanism, the robot mechanism includes：Three Degree Of Freedom part in series and three
Free degree parallel connection part is constituted.
First free degree of part in series is one-movement-freedom-degree, including：Fixed platform, the first leading screw sleeve, the first motor,
First leading screw, the first guide rod, the first feed screw nut, passive expansion link.
Connection between the one degree of freedom parts of part in series：First guide rod and the first motor are flat with fixed respectively
Platform is connected by screw.First motor and the first leading screw are attached by shaft coupling.First feed screw nut and passive expansion link
By the concentric connection of screw.Then fixed platform and the first leading screw sleeve are connected by screw.By the first feed screw nut
Two holes and the first guide rod, the first motor correspond to alignment respectively, start motor and drive the movement of the first feed screw nut.So first
When motor is rotated, passive expansion link can just be moved up and down along the first leading screw sleeve.
Second free degree of part in series is rotational freedom, including：Passive expansion link, stretch bowl cover, the first sleeve,
First rotating shaft, clutch shaft bearing, second bearing, 3rd bearing, the first end cap, the second motor and the first pivoted arm.
Connection between second free degree parts of part in series：By second bearing and the first pivoted arm is concentric puts
Enter, bottom and the first pivoted arm are contacted, the multi-diameter shaft lower contacts of top and first rotating shaft.It is again that clutch shaft bearing and the first pivoted arm is same
Axle center bottom is put into, and clutch shaft bearing top and the first pivoted arm are contacted, bottom and the first barrel contacts.Again by the first sleeve and first
The concentric bottom of rotating shaft is put into, fixed clutch shaft bearing.First rotating shaft is put into the concave position of flexible bowl cover, this two parts is used
Mode connects for screw.Then flexible bowl cover and passive expansion link are connected by screw.Put 3rd bearing and first rotating shaft are concentric
Enter the multi-diameter shaft contact of top and first rotating shaft.Then the second motor and the first end cap are carried out into mode connects for screw.Then by second
Motor and the alignment insertion of first rotating shaft dished portion, the first end cap and the first pivoted arm are connected by screw.Opened in the second motor
After dynamic, first rotating shaft is motionless, and the second motor drives first end lid, dynamic first pivoted arm of first end cover strip to be rotated, formed and rotated
It is secondary.
The three degree of freedom of part in series is rotational freedom, including：First pivoted arm, the second pivoted arm, the 3rd motor, the
Two end caps, fourth bearing, 5th bearing, the second rotating shaft.
Connection between the three degree of freedom parts of part in series：By the first pivoted arm and the second pivoted arm is concentric puts
Put, be put into the second rotating shaft is concentric from bottom so that the multi-diameter shaft of the second rotating shaft and the second pivoted arm are contacted.Again by 5th bearing
Concentric bottom is put into, the multi-diameter shaft contact of 5th bearing top and the second rotating shaft.It is put into the second end cap bottom is concentric, and
First pivoted arm mode connects for screw, and axially limit moving down for 5th bearing.It is put into fourth bearing top is concentric, bottom
Contacted with the second pivoted arm.Then the 3rd motor and the second end cap are carried out into mode connects for screw.Then by the 3rd motor and the second rotating shaft
Dished portion alignment insertion, the second end cap and the first pivoted arm are connected by screw.Second rotating shaft and the second pivoted arm are entered by pin
Row connection.After the 3rd electric motor starting, motor is motionless, and the second rotating shaft drives the second pivoted arm to be rotated, and is formed and rotates secondary.
The end of part in series, the i.e. end of the second pivoted arm and parallel connection platform are fixed together by screw.
Parallel connection part point quinquepartite：Parallel connection platform, two side chains, leading screw and gimbaled platform are constituted.
Wherein, two side chains are identical, illustrated with first side chain here.
The one degree of freedom of side chain is universal pair, and the secondary parts of first rotation of universal pair include：Parallel connection platform, the
One nut, second sleeve, 6th bearing, the 3rd rotating shaft, the first rotating part.
First the first of universal pair of parallel connection part rotates the connection between secondary parts：By two 6th bearings point
It is not put into first hole of side chain of parallel connection platform from both sides are concentric, is stuck on the interior multi-diameter shaft in hole.By the 3rd rotating shaft and
The concentric connection of one rotating part.The 3rd rotating shaft is arranged in the bearing hole of 6th bearing from parallel connection platform front end again.By
Two sleeves are installed in the 3rd rotating shaft and the contact of 6th bearing inner ring from parallel connection platform rear end.Then the first nut is screwed in the 3rd
Rotating shaft and second sleeve are contacted.
First the second of universal pair of side chain rotates secondary parts to be included：First rotating part, 3rd sleeve, the 7th
Bearing, the first screw, the 3rd end cap, the first key, the 4th rotating shaft, connector.
First the second of universal pair of side chain rotates the connection between secondary parts：First key is put into the 4th rotating shaft
Keyway.First rotating part and the concentric cooperation of connector, the keyway that will add the 4th rotating shaft alignment connector of key are inserted
Enter.3rd sleeve is inserted from the 4th rotating shaft two ends respectively, and connector contact.By two 7th bearings respectively from the 4th rotating shaft two
End insertion, and 3rd sleeve contact.Two the 3rd end caps are inserted from the 4th rotating shaft two ends respectively, and 7th bearing contact.
Second free degree of side chain is one-movement-freedom-degree, and parts include：Connector, leading screw base, the first support base,
4th motor, the first belt wheel, the first belt, the second belt wheel, 8th bearing, the 4th end cap, the second guide rod, the second leading screw, second
Feed screw nut, the second support base, linear bearing, the second passive expansion link.
Second free degree of side chain, the connection between one-movement-freedom-degree parts：Connector and leading screw base pass through spiral shell
Nail links together.4th motor and the first support base are connected by screw.4th motor and the first belt wheel are connected.8th bearing
With the concentric cooperation of the first support base, outer ring is fixed in 8th bearing outside by the 4th end cap.First support base and leading screw base
It is connected by screw.In second leading screw taper end insertion 8th bearing, the inner ring contact of axle rank and 8th bearing.Second leading screw is protruded
Taper end and the second belt wheel coordinate.First belt and the first belt wheel and the second belt wheel coordinate, and transmit torque.The two ends of the second guide rod point
Other and the first support base and the second support base coordinate to be fixed.Second feed screw nut and the second guide rod is corresponding respectively with the second leading screw matches somebody with somebody
Close.Second feed screw nut and the second passive expansion link mode connects for screw.Linear bearing be fixed on leading screw base and the second support base it
Between.
The three degree of freedom of side chain is universal pair, and parts include：Second passive expansion link, the second rotating part, the
Nine bearings, the tenth bearing, the second nut, the 3rd nut, the 11st bearing, 4th sleeve, the second leading screw sleeve.
The three degree of freedom of side chain, the connection between universal pair parts：9th bearing and the tenth bearing are respectively from
The two concentric cooperations in rotating part two ends, outer ring and the second rotating part are engaged.Second passive expansion link taper end is arranged on
In the bearing hole of the 9th bearing and the tenth bearing, axle rank fixes the inner ring of the 9th bearing.Second nut is from the second passive expansion link
Taper end is screwed in, and the tenth bearing is fixed.
11st bearing and the concentric cooperation of the second rotating part, outer ring and the second rotating part are contacted.Second screw set
Cylinder and the concentric cooperation of 4th sleeve.Mounted second leading screw sleeve is arranged in the 11st bearing hole.3rd nut is from
The other end of two leading screw sleeves is screwed in, and the 11st bearing is fixed.
The parts of gimbaled platform include：Parallel connection platform, the 12nd bearing, first baffle, universal inner platform, the 5th electricity
Machine, the 3rd leading screw sleeve, the 3rd belt wheel, the second belt, the 4th belt wheel, second baffle, the 13rd bearing, the 14th bearing, the
Three baffle plates, the 15th bearing, fourth gear plate.
Connection between gimbaled platform parts：Concentric inner side is put into parallel connection respectively for 12nd bearing and the 13rd bearing
Platform, outer ring positioning.First baffle and second baffle are respectively put into the bearing hole of the 12nd bearing and the 13rd bearing, rank
Terraced fixing bearing inner ring, two bearings are positioned.Concentric inner side is put into respectively for 14th bearing and the 15th bearing
Three baffle plates and fourth gear plate, outer ring positioning.The axle of universal inner platform two is respectively put into the axle of the 14th bearing and the 15th bearing
In bearing bore, axle rank fixing bearing inner ring is positioned two bearings.Then with screw by first baffle, second baffle, the 3rd
Baffle plate and fourth gear plate are fixed with mode connects for screw.3rd leading screw sleeve is fixed in being put into universal inner platform.5th motor and universal
Inner platform mode connects for screw.3rd belt wheel and the 3rd leading screw sleeve are connected.4th belt wheel and the 5th motor are fixed.Second belt
With the 3rd belt wheel, the cooperation of the 4th belt wheel.When the 5th motor drives the 4th belt wheel to rotate, by the belt wheel of the second belt drive the 3rd
Rotated with the 3rd leading screw sleeve, and then leading screw is rotated, and forms movement.
The present invention compares had gain effect with prior art：
The present invention is driven by the first to the 3rd motor carries out the movement of part in series, adjusts the position of parallel connection platform.Two
Two the 4th motors on article side chain adjust the pose of end effector, the rotation of the 5th motor, regulation end effector
Working depth
A kind of series-parallel connection minimally invasive spine surgical robot mechanism is provided, can be used to realize minimally invasive spine surgical.
Brief description of the drawings
A kind of component diagrams of series-parallel connection minimally invasive spine surgical robot mechanism of Fig. 1.
The component diagram of Fig. 2 parallel connection parts.
The prismatic pairs of Fig. 3 first and first rotate subcomponent exploded perspective view.
The prismatic pairs of Fig. 4 first and first rotate subcomponent schematic cross-sectional view.
Fig. 5 second rotates subcomponent exploded perspective view.
Fig. 6 second rotates subcomponent schematic cross-sectional view.
Fig. 7 parallel institutions side chain the first universal pair exploded perspective view.
Fig. 8 parallel institutions side chain the first universal pair section view position view.
Fig. 9 A-A schematic cross-sectional views.
Figure 10 B-B schematic cross-sectional views.
Figure 11 parallel institution side chain prismatic pair exploded perspective views.
Figure 12 parallel institution side chains prismatic pair looks side ways schematic diagram.
Figure 13 parallel institution side chain prismatic pair section view position views.
Figure 14 parallel institution side chain prismatic pair C-C schematic cross-sectional views.
Figure 15 parallel institutions side chain the second universal pair exploded perspective view.
Figure 16 parallel institutions side chain the first universal pair section view position view.
Figure 17 D-D, E-E schematic cross-sectional views.
Figure 18 gimbaled platform exploded perspective views.
Figure 19 gimbaled platform oblique views.
Figure 20 gimbaled platform section view position views.
Figure 21 G-G schematic cross-sectional views.
Figure 22 F-F schematic cross-sectional views.
Figure 23 fixed platform part schematic diagrames.
Figure 24 leading screw sleeve part schematic diagrames.
The passive expansion link part schematic diagrames of Figure 25.
Figure 26 the first feed screw nut part schematic diagrames.
Figure 27 the first pivoted arm part schematic diagrames.
Figure 28 the second pivoted arm part schematic diagrames.
Figure 29 parallel connection platform part schematic diagrames.
Figure 30 leading screw part schematic diagrames.
Figure 31 the first leading screw part schematic diagrames.
Figure 32 the first guide rod part schematic diagrames.
The flexible bowl cover part schematic diagrames of Figure 33.
Figure 34 the first sleeve part schematic diagrames.
Figure 35 first rotating shaft part schematic diagrames.
Figure 36 the first end cap part schematic diagrames.
Figure 37 the second end cap part schematic diagrames.
Figure 38 the second Rotating Shafts schematic diagrames.
Figure 39 second sleeve part schematic diagrames.
The Rotating Shafts schematic diagrames of Figure 40 the 3rd.
Figure 41 the first rotating part schematic diagrames.
Figure 42 3rd sleeve part schematic diagrames.
The end cap part schematic diagrames of Figure 43 the 3rd.
Figure 44 the first key part schematic diagrames.
The Rotating Shafts schematic diagrames of Figure 45 the 4th.
Figure 46 connector part schematic diagrames.
Figure 47 leading screw base part schematic diagrames.
Figure 48 the first support base part schematic diagrames.
Figure 49 the first belt wheel part schematic diagrames.
Figure 50 the first belt part schematic diagrames.
Figure 51 the second belt wheel part schematic diagrames.
The end cap part schematic diagrames of Figure 52 the 4th.
Figure 53 the second guide rod part schematic diagrames.
Figure 54 the second leading screw part schematic diagrames.
Figure 55 the second feed screw nut part schematic diagrames.
Figure 56 the second support base part schematic diagrames.
The passive expansion link part schematic diagrames of Figure 57 second.
Figure 58 the second rotating part schematic diagrames.
Figure 59 4th sleeve part schematic diagrames.
Figure 60 the second leading screw sleeve part schematic diagrames.
Figure 61 first baffle part schematic diagrames.
The universal inner platform part schematic diagrames of Figure 62.
The leading screw sleeve part schematic diagrames of Figure 63 the 3rd.
The belt wheel part schematic diagrames of Figure 64 the 3rd.
Figure 65 the second belt part schematic diagrames.
The belt wheel part schematic diagrames of Figure 66 the 4th.
Figure 67 fourth gear plate part schematic diagrames.
In figure：Fixed platform 1, the first leading screw sleeve 2, prismatic pair 3, passive expansion link 4 rotates secondary 5, and the first pivoted arm 6 turns
Dynamic secondary 7, the second pivoted arm 8, parallel-connection structure part 9, parallel connection platform 10, two side chain 11-1,11-2, leading screw 12, gimbaled platform 13,
First motor 14, the first feed screw nut 15, the first leading screw 16, the first guide rod 17, stretch bowl cover 18, the first sleeve 19, first axle
Hold 20, second bearing 21, first rotating shaft 22,3rd bearing 23, the first end cap 24, the second motor 25, the 3rd motor 26, the second end
Lid 27, fourth bearing 28, the second rotating shaft 29,5th bearing 30, the first nut 31-1, second sleeve 32-1,6th bearing 33-1,
3rd rotating shaft 34-1, the first rotating part 35-1,3rd sleeve 36-1,7th bearing 37-1, the first screw 38-1, the 3rd end cap
39-1, the first key 40-1, the 4th rotating shaft 41-1, connector 42-1, leading screw base 43-1, the first support base 44-1, the 4th motor
45-1, the first belt wheel 46-1, the first belt 47-1, the second belt wheel 48-1,8th bearing 49-1, the 4th end cap 50-1, second lead
Bar 51-1, the second leading screw 52-1, the second feed screw nut 53-1, the second support base 54-1, linear bearing 55-1, second is passive flexible
Bar 56-1, the second rotating part 57-1, the 3rd nut 58-1, the 11st bearing 59-1,4th sleeve 60-1, the second leading screw sleeve
The nut 64-1 of 61-1, the 9th bearing 62-1, the tenth bearing 63-1, second, the 12nd bearing 65, first baffle 66 is universal interior flat
Platform 67, the 5th motor 68, the 3rd leading screw sleeve 69, the 3rd belt wheel 70, the second belt 71, the 4th belt wheel 72, second baffle 73, the
The bearing 75 of 13 bearing the 74, the 14th, the bearing 77 of third baffle the 76, the 15th, fourth gear plate 78.
Specific embodiment
With reference to accompanying drawing, the present invention will be further described.
A kind of series-parallel connection minimally invasive spine surgical robot mechanism, as shown in figure 1, the robot mechanism includes：Three Degree Of Freedom 3,
5,7 part in series and freedom degree parallel connection part 9 composition (as shown in Figure 2).
First free degree 3 of part in series is one-movement-freedom-degree, such as Fig. 3, shown in Fig. 4, including：Fixed platform 1, first
Thick stick sleeve 2, the first motor 14, the first leading screw 16, the first guide rod 17, the first feed screw nut 15, passive expansion link 4.
Connection between the parts of one degree of freedom 3 of part in series：First guide rod 17 and the first motor 14 respectively and
Fixed platform 1 is connected by screw.First motor 14 and the first leading screw 16 are attached by shaft coupling.First feed screw nut 15
Pass through the concentric connection of screw with passive expansion link 4.Then the leading screw sleeve 2 of fixed platform 1 and first is connected by screw.Will
Two holes of the first feed screw nut 15 and the first guide rod 17, the first motor 14 correspond to alignment respectively, start motor and drive first
Thick stick nut 15 is moved.So when the first motor 14 is rotated, passive expansion link 4 just can be along on the first leading screw sleeve 2
Lower movement.
Second free degree 5 of part in series be rotational freedom, such as Fig. 3, shown in Fig. 4, including：Passive expansion link 4, stretches
Contracting bowl cover 18, the first sleeve 19, first rotating shaft 22, clutch shaft bearing 20, second bearing 21,3rd bearing 23, the first end cap 24, the
Two motors 25 and the first pivoted arm 6.
Connection between second parts of the free degree 5 of part in series：The pivoted arm 6 of second bearing 21 and first is concentric
It is put into, bottom and the first pivoted arm 6 are contacted, the multi-diameter shaft lower contacts of top and first rotating shaft 22.Again by clutch shaft bearing 20 and
The concentric bottom of one pivoted arm 6 is put into, and the top of clutch shaft bearing 20 and the first pivoted arm 6 are contacted, and bottom and the first sleeve 19 are contacted.Again will
First sleeve 19 and the concentric bottom of first rotating shaft 22 are put into, fixed clutch shaft bearing 20.First rotating shaft 22 is put into flexible bowl cover
18 concave position, by this two parts mode connects for screw.Then flexible bowl cover and passive expansion link 4 are connected by screw.Will
3rd bearing 23 and the concentric multi-diameter shaft contact for being put into top and first rotating shaft 22 of first rotating shaft 22.Then by the second motor 25
Mode connects for screw is carried out with the first end cap 24.Then by the second motor 25 and the alignment insertion of the dished portion of first rotating shaft 22, by first
The pivoted arm 6 of end cap 24 and first is connected by screw.After the startup of the second motor 25, first rotating shaft 22 is motionless, the band of the second motor 25
Dynamic first end cap 24, the first end cap 24 drives the first pivoted arm 6 to be rotated, and is formed and rotates secondary.
The three degree of freedom 7 of part in series is rotational freedom, and such as Fig. 5, Fig. 6 includes：First pivoted arm 6, the second pivoted arm
8, the 3rd motor 26, the second end cap 27, fourth bearing 28,5th bearing 30, the second rotating shaft 29.
Connection between the parts of three degree of freedom 7 of part in series：First pivoted arm 6 and the second pivoted arm 8 is concentric
Place, be put into the second rotating shaft 29 is concentric from bottom so that the multi-diameter shaft of the second rotating shaft 29 and the second pivoted arm 8 are contacted.Again will
The concentric bottom of 5th bearing 30 is put into, the multi-diameter shaft contact of 5th bearing top and the second rotating shaft 29.By the bottom of the second end cap 27
Portion is concentric to be put into, and the mode connects for screw of the first pivoted arm 6, and axially limits moving down for 5th bearing 30.By fourth bearing
28 tops are concentric to be put into, and bottom and the second pivoted arm 8 are contacted.Then the 3rd motor 26 and the second end cap 27 are carried out into screw company
Connect.Then by the 3rd motor 26 and the alignment insertion of the dished portion of the second rotating shaft 29, the second end cap 27 and the first pivoted arm 6 are passed through into spiral shell
Nail connection.Second rotating shaft 29 and the second pivoted arm 8 are attached by pin.After the startup of the 3rd motor 26, motor is motionless, second turn
Axle drives the second pivoted arm 8 to be rotated, and is formed and rotates secondary.
The end of part in series, the i.e. end of the second pivoted arm 8 and parallel connection platform 10 are fixed together by screw.
Parallel connection part point quinquepartite：As shown in Figure 2：Parallel connection platform 10, two side chains 11-1,11-2, leading screw 12 and ten thousand
Constituted to platform 13.
Wherein, two side chains are identical, illustrated with first side chain 11-1 here.
The one degree of freedom of side chain is universal pair, such as Fig. 7, Fig. 8, shown, and first of universal pair rotates secondary parts
As shown in figure 9, including：Parallel connection platform 10, the first nut 31-1, second sleeve 32-1,6th bearing 33-1, the 3rd rotating shaft 34-
1, the first rotating part 35-1.
First the first of universal pair of parallel connection part rotates the connection between secondary parts, as shown in Figure 9：By two
6th bearing 33-1 is put into 10 first holes of side chain 11-1 of parallel connection platform from both sides are concentric respectively, is stuck in the interior ladder in hole
On axle.By the 3rd rotating shaft 34-1 and the first concentric connections of rotating part 35-1.Again by the 3rd rotating shaft 34-1 from parallel connection platform 10
Front end is arranged in the bearing hole of 6th bearing 33-1.Second sleeve 32-1 is installed to the 3rd rotating shaft from the rear end of parallel connection platform 10
34-1 is upper and 6th bearing 33-1 inner ring is contacted.Then the first nut 31-1 is screwed in into the 3rd rotating shaft 34-1 and second sleeve 32-1
Contact.
First the second of universal pair of side chain rotates secondary parts as shown in Figure 10, including：First rotating part 35-
1,3rd sleeve 36-1,7th bearing 37-1, the first screw key of 38-1, the 3rd end cap 39-1, first 40-1, the 4th rotating shaft 41-
1, connector 42-1.
First the second of universal pair of side chain rotates the connection between secondary parts, as shown in Figure 10：By the first key
40-1 is put into the keyway of the 4th rotating shaft 41-1.First rotating part 35-1 and the concentric cooperations of connector 42-1, will add key
The 4th rotating shaft 41-1 alignment connector 42-1 keyway insertion.3rd sleeve 36-1 is inserted from the 4th rotating shaft 41-1 two ends respectively
Enter, and connector 42-1 contacts.Two 7th bearing 37-1 are inserted from the 4th rotating shaft 41-1 two ends respectively, and 3rd sleeve
36-1 is contacted.Two the 3rd end cap 39-1 are inserted from the 4th rotating shaft 41-1 two ends respectively, and 7th bearing 37-1 contacts.
Second free degree of side chain is one-movement-freedom-degree, such as Figure 11, Figure 12, Figure 13, and shown in Figure 14, parts include：
Connector 42-1, leading screw base 43-1, the first support base belt wheel of 44-1, the 4th motor 45-1, first 46-1, the first belt 47-
1, the second belt wheel 48-1, the 8th bearing guide rod of 49-1, the 4th end cap 50-1, second 51-1, the second leading screw 52-1, the second leading screw spiral shell
Female 53-1, the second support base 54-1, linear bearing 55-1, the second passive expansion link 56-1.
Second free degree of side chain, the connection between one-movement-freedom-degree parts：Connector 42-1 and leading screw base 43-
1 is connected by screw together.4th motor 45-1 and the first support base 44-1 are connected by screw.4th motor 45-1 and
One belt wheel 46-1 is connected.8th bearing 49-1 and the first concentric cooperations of support base 44-1,8th bearing 49-1 outsides are by the
Four end cap 50-1 fix outer ring.First support base 44-1 and leading screw base 43-1 are connected by screw.Second leading screw 52-1 taper ends
In insertion 8th bearing 49-1, the inner ring contact of axle rank and 8th bearing 49-1.Second leading screw 52-1 protrudes taper end and the second band
Wheel 48-1 coordinates.First belt 47-1 and the first belt wheel 46-1 and the second belt wheel 48-1 coordinates, and transmits torque.Second guide rod 51-1
Two ends coordinate with the first support base 44-1 and the second support base 54-1 fix respectively.Second feed screw nut 53-1 and the second guide rod
51-1 and the second leading screw 52-1 difference corresponding matchings.Second feed screw nut 53-1 and the second passive expansion link 56-1 mode connects for screw.
Linear bearing 55-1 is fixed between leading screw base 43-1 and the second support base 54-1.
The three degree of freedom of side chain is universal pair, such as Figure 15, Figure 16, and shown in Figure 17, parts include：Second passively stretches
Contracting bar 56-1, the second rotating part nut of 57-1, the 9th bearing 62-1, the tenth bearing 63-1, second 64-1, the 3rd nut 58-
1, the 11st bearing 59-1,4th sleeve 60-1, the second leading screw sleeve 61-1.
The three degree of freedom of side chain, the connection between universal pair parts：9th bearing 62-1 and the tenth bearing 63-1
Respectively from the second concentric cooperation in rotating part 57-1 two ends, outer ring and the second rotating part are engaged.Second is passive flexible
Bar 56-1 taper ends are arranged in the bearing hole of the 9th bearing 62-1 and the tenth bearing 63-1, and axle rank fixes the interior of the 9th bearing 62-1
Circle.Second nut 64-1 is screwed in from the second passive expansion link 56-1 taper ends, and the tenth bearing 63-1 is fixed.
11st bearing 59-1 and the second concentric cooperations of rotating part 57-1, outer ring and the second rotating part 57-1 connect
Touch.Second leading screw sleeve 61-1 and the concentric cooperations of 4th sleeve 60-1.Mounted second leading screw sleeve 61-1 is arranged on the
In 11 bearing 59-1 holes.3rd nut 58-1 is screwed in from the other end of the second leading screw sleeve 61-1, by the 11st bearing 59-1
It is fixed.
The parts of gimbaled platform 13 such as Figure 18, Figure 19, Figure 20, Figure 21, shown in Figure 22, including：Parallel connection platform 10, the tenth
Two bearings 65, first baffle 66, universal inner platform 67, the 5th motor 68, the 3rd leading screw sleeve 69, the 3rd belt wheel 70, the second skin
Band 71, the 4th belt wheel 72, the bearing 74 of second baffle the 73, the 13rd, the 14th bearing 75, the bearing 77 of third baffle the 76, the 15th,
Fourth gear plate 78.
Connection between the parts of gimbaled platform 13：Concentric inner side is put respectively for 12nd bearing 65 and the 13rd bearing 74
Enter parallel connection platform 10, outer ring positioning.First baffle 66 and second baffle 73 are respectively put into the 12nd bearing 65 and the 13rd axle
Hold in 74 bearing hole, ladder fixing bearing inner ring is positioned two bearings.14th bearing 75 and the 15th bearing 77
Concentric inner side is put into third baffle 76 and fourth gear plate 78, outer ring positioning respectively.67 liang of axles of universal inner platform are respectively put into
In the bearing hole of the 14th bearing 75 and the 15th bearing 77, axle rank fixing bearing inner ring is positioned two bearings.Then
First baffle 66, second baffle 73, third baffle 76 and fourth gear plate 78 are fixed with mode connects for screw with screw.3rd screw set
Cylinder 69 is fixed in being put into universal inner platform 67.5th motor 68 and the mode connects for screw of universal inner platform 67.3rd belt wheel 70 and the 3rd
Leading screw sleeve is connected.4th belt wheel 72 and the 5th motor 68 are fixed.Second belt 71 and the 3rd belt wheel 70, the 4th belt wheel 72
Coordinate.When the 5th motor 68 drives the 4th belt wheel 72 to rotate, the 3rd belt wheel 70 and the 3rd leading screw are driven by the second belt 71
Sleeve 69 is rotated, and then leading screw 12 is rotated, and forms movement.
The present invention uses hybrid connected structure, part in series to improve the flexibility of mechanism.Actuator uses parallel institution, and structure is tight
Gather, small volume compares and is adapted to be performed the operation under conditions of the spaces such as CT are limited.And parallel institution rigidity is higher, carry
Power is larger, is relatively adapted to the operation of the minimally invasive spine larger centripetal force of this needs.
Main mode of operation：Sick position and the feeding angle of patient are determined under CT, then by parallel connection platform
Two side chains adjust the attitude of end effector, then surgery location are moved to by series connection platform, finally by end's platform
On rotation pair be operated.
The above, a kind of mode of operation only of the invention, but protection scope of the present invention is not limited to that, it is any
Those of ordinary skill in the art the invention discloses technical scope in, the change or the replacement of structure that can be readily occurred in,
All should be within protection scope of the present invention.
Claims (2)
1. a kind of series-parallel connection minimally invasive spine surgical robot mechanism, the robot mechanism includes：Three Degree Of Freedom (3,5,7) part in series
Constituted with freedom degree parallel connection part (9).
First free degree (3) of part in series is one-movement-freedom-degree, including：Fixed platform (1), the first leading screw sleeve (2), first
Motor (14), the first leading screw (16), the first guide rod (17), the first feed screw nut (15), passive expansion link (4).
Connection between one degree of freedom (3) parts of part in series：First guide rod (17) and the first motor (14) are respectively
It is connected by screw with fixed platform (1).First motor (14) and the first leading screw (16) are attached by shaft coupling.First
Thick stick nut (15) and passive expansion link (4) are by the concentric connection of screw.Then by fixed platform (1) and the first leading screw sleeve
(2) it is connected by screw.Two holes of the first feed screw nut (15) and the first guide rod (17), the first motor (14) are corresponded to respectively
Alignment, starts motor and drives the first feed screw nut (15) mobile.So when the first motor (14) is rotated, passive expansion link
(4) can just be moved up and down along the first leading screw sleeve (2).
Second free degree (5) of part in series is rotational freedom, including：Passive expansion link (4), stretch bowl cover (18), the
One sleeve (19), first rotating shaft (22), clutch shaft bearing (20), second bearing (21), 3rd bearing (23), the first end cap (24),
Second motor (25) and the first pivoted arm (6).
Connection between second free degree (5) parts of part in series：Second bearing (21) and the first pivoted arm (6) is coaxial
The heart is put into, and bottom and the first pivoted arm (6) are contacted, the multi-diameter shaft lower contacts of top and first rotating shaft (22).Again by clutch shaft bearing
(20) it is put into the first pivoted arm (6) concentric bottom, clutch shaft bearing (20) top and the first pivoted arm (6) are contacted, bottom and first
Sleeve (19) is contacted.The first sleeve (19) and first rotating shaft (22) concentric bottom are put into again, fixed clutch shaft bearing (20).Will
First rotating shaft (22) is put into the concave position of flexible bowl cover (18), by this two parts mode connects for screw.Then by flexible bowl cover and
Passive expansion link (4) is connected by screw.Top and first turn are put into by 3rd bearing (23) and first rotating shaft (22) are concentric
The multi-diameter shaft contact of axle (22).Then the second motor (25) and the first end cap (24) are carried out into mode connects for screw.Then by the second electricity
Machine (25) and the alignment insertion of first rotating shaft (22) dished portion, the first end cap (24) and the first pivoted arm (6) are connected by screw.
After the second motor (25) startup, first rotating shaft (22) is motionless, and the second motor (25) drives the first end cap (24), the first end cap
(24) drive the first pivoted arm (6) to be rotated, formed and rotate secondary.
The three degree of freedom (7) of part in series is rotational freedom, including：First pivoted arm (6), the second pivoted arm (8), the 3rd electricity
Machine (26), the second end cap (27), fourth bearing (28), 5th bearing (30), the second rotating shaft (29).
Connection between three degree of freedom (7) parts of part in series：First pivoted arm (6) and the second pivoted arm (8) is coaxial
The heart is placed, and is put into the second rotating shaft (29) is concentric from bottom so that the multi-diameter shaft and the second pivoted arm (8) of the second rotating shaft (29) connect
Touch.5th bearing (30) concentric bottom is put into again, the multi-diameter shaft contact of 5th bearing top and the second rotating shaft (29).By
Two end caps (27) bottom is concentric to be put into, and the first pivoted arm (6) mode connects for screw, and axially limits the downward of 5th bearing (30)
It is mobile.It is put into fourth bearing (28) top is concentric, bottom and the second pivoted arm (8) are contacted.Then by the 3rd motor (26) and
Second end cap (27) carries out mode connects for screw.Then by the 3rd motor (26) and the alignment insertion of the second rotating shaft (29) dished portion, will
Second end cap (27) and the first pivoted arm (6) are connected by screw.Second rotating shaft (29) and the second pivoted arm (8) are connected by pin
Connect.After the startup of the 3rd motor (26), motor is motionless, and the second rotating shaft drives the second pivoted arm (8) to be rotated, and is formed and rotates secondary.
The end of part in series, the i.e. end of the second pivoted arm (8) and parallel connection platform (10) are fixed together by screw.
Parallel connection part point quinquepartite：Parallel connection platform (10), two side chains (11-1,11-2), leading screw (12) and gimbaled platform
(13) constitute.
Wherein, two side chains are identical, illustrated with first side chain (11-1) here.
The one degree of freedom of side chain is universal pair, and the secondary parts of first rotation of universal pair include：Parallel connection platform (10), the
One nut (31-1), second sleeve (32-1), 6th bearing (33-1), the 3rd rotating shaft (34-1), the first rotating part (35-1).
First the first of universal pair of parallel connection part rotates the connection between secondary parts：By two 6th bearings (33-1)
It is put into (10) first holes of side chain (11-1) of parallel connection platform from both sides are concentric respectively, is stuck on the interior multi-diameter shaft in hole.Will
3rd rotating shaft (34-1) and the first rotating part (35-1) concentric connection.Again by the 3rd rotating shaft (34-1) from parallel connection platform (10)
Front end is arranged in the bearing hole of 6th bearing (33-1).Second sleeve (32-1) is installed to from parallel connection platform (10) rear end
Contacted with 6th bearing (33-1) inner ring in three rotating shafts (34-1).Then the first nut (31-1) is screwed in into the 3rd rotating shaft (34-1)
Contacted with second sleeve (32-1).
First the second of universal pair of side chain rotates secondary parts to be included：First rotating part (35-1), 3rd sleeve
(36-1), 7th bearing (37-1), the first screw (38-1), the 3rd end cap (39-1), the first key (40-1), the 4th rotating shaft (41-
1), connector (42-1).
First the second of universal pair of side chain rotates the connection between secondary parts：First key (40-1) is put into the 4th turn
The keyway of axle (41-1).First rotating part (35-1) and connector (42-1) concentric cooperation, the 4th turn that key will have been added
The keyway insertion of axle (41-1) alignment connector (42-1).3rd sleeve (36-1) is inserted from the 4th rotating shaft (41-1) two ends respectively
Enter, and connector (42-1) contact.Two 7th bearings (37-1) are inserted from the 4th rotating shaft (41-1) two ends respectively, and the 3rd
Sleeve (36-1) is contacted.Two the 3rd end caps (39-1) are inserted from the 4th rotating shaft (41-1) two ends respectively, and 7th bearing
(37-1) is contacted.
Second free degree of side chain is one-movement-freedom-degree, and parts include：Connector (42-1), leading screw base (43-1), the
One support base (44-1), the 4th motor (45-1), the first belt wheel (46-1), the first belt (47-1), the second belt wheel (48-1), the
Eight bearings (49-1), the 4th end cap (50-1), the second guide rod (51-1), the second leading screw (52-1), the second feed screw nut (53-1),
Second support base (54-1), linear bearing (55-1), the second passive expansion link (56-1).
Second free degree of side chain, the connection between one-movement-freedom-degree parts：Connector (42-1) and leading screw base (43-
1) it is connected by screw together.4th motor (45-1) and the first support base (44-1) are connected by screw.4th motor
(45-1) and the first belt wheel (46-1) are connected.8th bearing (49-1) and the first support base (44-1) concentric cooperation, the 8th axle
Hold (49-1) outside and outer ring is fixed by the 4th end cap (50-1).First support base (44-1) and leading screw base (43-1) pass through spiral shell
Nail connection.Second leading screw (52-1) taper end is inserted in 8th bearing (49-1), the inner ring contact of axle rank and 8th bearing (49-1).
The prominent taper end of second leading screw (52-1) and the second belt wheel (48-1) coordinate.First belt (47-1) and the first belt wheel (46-1) and the
Two belt wheels (48-1) coordinate, and transmit torque.The two ends of the second guide rod (51-1) respectively with the first support base (44-1) with second
Support seat (54-1) coordinates to be fixed.Second feed screw nut (53-1) and the second guide rod (51-1) are corresponding respectively with the second leading screw (52-1)
Coordinate.Second feed screw nut (53-1) and the second passive expansion link (56-1) mode connects for screw.Linear bearing (55-1) is fixed on silk
Between thick stick base (43-1) and the second support base (54-1).
The three degree of freedom of side chain is universal pair, and parts include：Second passive expansion link (56-1), the second rotating part
(57-1), the 9th bearing (62-1), the tenth bearing (63-1), the second nut (64-1), the 3rd nut (58-1), the 11st bearing
(59-1), 4th sleeve (60-1), the second leading screw sleeve (61-1).
The three degree of freedom of side chain, the connection between universal pair parts：9th bearing (62-1) and the tenth bearing (63-1)
It is engaged from the concentric cooperation in the second rotating part (57-1) two ends, outer ring and the second rotating part respectively.Second passively stretches
Contracting bar (56-1) taper end is arranged in the bearing hole of the 9th bearing (62-1) and the tenth bearing (63-1), and axle rank fixes the 9th bearing
The inner ring of (62-1).Second nut (64-1) is screwed in from the second passive expansion link (56-1) taper end, and the tenth bearing (63-1) is solid
It is fixed.
11st bearing (59-1) and the second rotating part (57-1) concentric cooperation, outer ring and the second rotating part (57-1) connect
Touch.Second leading screw sleeve (61-1) and 4th sleeve (60-1) concentric cooperation.Mounted second leading screw sleeve (61-1) peace
In the 11st bearing (59-1) hole.3rd nut (58-1) is screwed in from the other end of the second leading screw sleeve (61-1), by the
11 bearings (59-1) are fixed.
The parts of gimbaled platform (13) include：Parallel connection platform (10), the 12nd bearing (65), first baffle (66) is universal interior
Platform (67), the 5th motor (68), the 3rd leading screw sleeve (69), the 3rd belt wheel (70), the second belt (71), the 4th belt wheel
(72), second baffle (73), the 13rd bearing (74), the 14th bearing (75), third baffle (76), the 15th bearing (77),
Fourth gear plate (78).
Connection between gimbaled platform (13) parts：12nd bearing (65) and the concentric inner side of the 13rd bearing (74) difference
It is put into parallel connection platform (10), outer ring positioning.First baffle (66) and second baffle (73) are respectively put into the 12nd bearing (65)
In the bearing hole of the 13rd bearing (74), ladder fixing bearing inner ring is positioned two bearings.14th bearing (75)
Concentric inner side is put into third baffle (76) and fourth gear plate (78), outer ring positioning respectively with the 15th bearing (77).Will be universal
The axle of inner platform (67) two is respectively put into the bearing hole of the 14th bearing (75) and the 15th bearing (77), in axle rank fixing bearing
Circle, two bearings are positioned.Then with screw by first baffle (66), second baffle (73), third baffle (76) and
Four baffle plates (78) are fixed with mode connects for screw.3rd leading screw sleeve (69) is fixed in being put into universal inner platform (67).5th motor
And universal inner platform (67) mode connects for screw (68).3rd belt wheel (70) and the 3rd leading screw sleeve are connected.4th belt wheel (72)
It is fixed with the 5th motor (68).Second belt (71) and the 3rd belt wheel (70), the 4th belt wheel (72) coordinate.When the 5th motor (68)
When driving the 4th belt wheel (72) to rotate, the 3rd belt wheel (70) and the 3rd leading screw sleeve (69) is driven to turn by the second belt (71)
It is dynamic, and then leading screw (12) rotation, form movement.
The present invention compares had gain effect with prior art：
The present invention is driven by the first to the 3rd motor (14,25,26) carries out the movement of part in series, adjusts the position of parallel connection platform
Put.Two the 4th motors (45-1,45-2) on two side chains (11-1,11-2) adjust the pose of end effector, the 5th
The rotation of motor (68), adjusts the working depth of end effector
A kind of series-parallel connection minimally invasive spine surgical robot mechanism is provided, can be used to realize minimally invasive spine surgical.
2. a kind of new bipod walking robot mechanism according to claim 1, it is characterised in that：
Including serial mechanism (1,2,4,6,8) and parallel institution (9).
The height of the rotation regulation parallel connection platform of the motor of part in series first (14), adapts to the body of different building shape.Second motor
(25) rotation of the 3rd motor (26), drives the first pivoted arm (6) and the second pivoted arm (8) to rotate, and then drive parallel connection platform
It is mobile.
Under two coordinateds of the 4th motor (45-1,45-2), the pose of end effector can change parallel connection part, really
The attitude of fixed operation.Under the driving of the 5th motor (68), it may be determined that the depth of end effector work.
Under the cooperation of the second to the 5th motor (25,26,45-1,45-2,68), it is possible to achieve rotated around apocenter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710021734.1A CN106890026A (en) | 2017-01-12 | 2017-01-12 | A kind of minimally invasive spine surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710021734.1A CN106890026A (en) | 2017-01-12 | 2017-01-12 | A kind of minimally invasive spine surgical robot |
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| Publication Number | Publication Date |
|---|---|
| CN106890026A true CN106890026A (en) | 2017-06-27 |
Family
ID=59198105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710021734.1A Pending CN106890026A (en) | 2017-01-12 | 2017-01-12 | A kind of minimally invasive spine surgical robot |
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| CN (1) | CN106890026A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107789059A (en) * | 2017-09-19 | 2018-03-13 | 山东科技大学 | A kind of minimally invasive abdominal operation robot |
| CN108175508A (en) * | 2018-01-02 | 2018-06-19 | 廖容 | A kind of medical operating robot arm |
| CN109394344A (en) * | 2018-12-29 | 2019-03-01 | 苏州康多机器人有限公司 | A kind of data self calibration main manipulator |
| CN112828885A (en) * | 2020-12-30 | 2021-05-25 | 诺创智能医疗科技(杭州)有限公司 | Hybrid master-slave mapping method, mechanical arm system and computer equipment |
| CN114310849A (en) * | 2022-01-19 | 2022-04-12 | 燕山大学 | Two-rotation two-movement parallel mechanism |
-
2017
- 2017-01-12 CN CN201710021734.1A patent/CN106890026A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107789059A (en) * | 2017-09-19 | 2018-03-13 | 山东科技大学 | A kind of minimally invasive abdominal operation robot |
| CN108175508A (en) * | 2018-01-02 | 2018-06-19 | 廖容 | A kind of medical operating robot arm |
| CN108175508B (en) * | 2018-01-02 | 2019-10-29 | 极限人工智能(北京)有限公司 | A kind of medical operating robot arm |
| CN109394344A (en) * | 2018-12-29 | 2019-03-01 | 苏州康多机器人有限公司 | A kind of data self calibration main manipulator |
| CN109394344B (en) * | 2018-12-29 | 2024-02-06 | 苏州康多机器人有限公司 | Data self-calibration main manipulator |
| CN112828885A (en) * | 2020-12-30 | 2021-05-25 | 诺创智能医疗科技(杭州)有限公司 | Hybrid master-slave mapping method, mechanical arm system and computer equipment |
| CN114310849A (en) * | 2022-01-19 | 2022-04-12 | 燕山大学 | Two-rotation two-movement parallel mechanism |
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Application publication date: 20170627 |