CN107049498A - A kind of parallel Three Degree Of Freedom remote centre of motion operating robot - Google Patents
A kind of parallel Three Degree Of Freedom remote centre of motion operating robot Download PDFInfo
- Publication number
- CN107049498A CN107049498A CN201710339684.1A CN201710339684A CN107049498A CN 107049498 A CN107049498 A CN 107049498A CN 201710339684 A CN201710339684 A CN 201710339684A CN 107049498 A CN107049498 A CN 107049498A
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- revolute pair
- operation module
- branches
- fixed block
- surgery operation
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Classifications
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- 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
Abstract
The present invention relates to operating robot technical field.Purpose is to provide a kind of parallel Three Degree Of Freedom remote centre of motion operating robot, and the operating robot should have the advantages that compact conformation, good rigidity, precision height, dynamic characteristic are good.Technical scheme is：A kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including frame, surgery operation module and four branches being connected between frame and surgery operation module；It is characterized in that：Each branch includes the 5th connecting rod that the parallel-crank mechanism being connected by the first revolute pair with frame and two ends are connected by the 6th revolute pair and the 7th revolute pair with parallel-crank mechanism and surgery operation module respectively.
Description
Technical field
The present invention relates to operating robot technical field, specifically a kind of parallel Three Degree Of Freedom remote centre of motion operation
Robot.
Background technology
Minimally Invasive Surgery refers to that doctor cuts a small wound in human epidermal, is stretched operating theater instruments by this wound
Enter in human body and be operated.Compared with traditional operation, Minimally Invasive Surgery has that wound is small, pain light, recover fast, scar after the operation
It is small to wait remarkable advantage, therefore it is widely used in clinical field.However, Minimally Invasive Surgery is limited by small wound, doctor's operation
Difficulty is big, and the shake of hand can have a huge impact to operation precision, and doctor operation direction with target location on the contrary, not
It is easy to control.To solve these problems, it is a selection well to carry out Minimally Invasive Surgery using operating robot.
The characteristics of having remote centre of motion applied to Minimally Invasive Surgery requirement robot, that is, center of rotation are remote in mechanism
The a certain fixing point at end, can so be such that operating theater instruments is rotated around the point.In surgical procedure, the fulcrum is created with operation
It is salty to close, it is desirable to which that robot can provide a movement and around two rotational motions of central point, common three degree of freedom.Propose at present
Some remote centre of motion operating robots (B of CN 104622573 A, CN 101919739) are the knot of open loop type on the whole
Structure, precision is not high, and dynamic characteristic is bad, influences surgical quality, limits the application of robot.Compared to open loop structure, closed loop
The parallel institution of formula has the advantages that good rigidity, precision height, dynamic characteristic are good, is well suited for opening applied to micro-wound operation robot
Hair.It is therefore proposed that a kind of parallel remote centre of motion operating robot is necessary.
The content of the invention
The technical problems to be solved by the invention are to overcome the shortcomings of that background technology is present there is provided one kind parallel three freely
Remote centre of motion operating robot is spent, the operating robot should have compact conformation, good rigidity, precision height, dynamic characteristic good
The advantages of.
The technical scheme is that：
A kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including frame, surgery operation module and company
It is connected on four branches between frame and surgery operation module；It is characterized in that：
Each branch includes the parallel-crank mechanism being connected by the first revolute pair with frame and two ends pass through respectively
The 5th connecting rod that 6th revolute pair and the 7th revolute pair are connected with parallel-crank mechanism and surgery operation module；
Surgery operation module includes the first fixed block, the second fixed block and is connected with the first fixed block and simultaneously by the
The operating theater instruments that eight revolute pairs are connected with the second fixed block；
One group two-by-two of four branches, the 7th rotation that the Liang Ge branches in one of which are connected by each branch respectively
Pair be connected with the first fixed block of surgery operation module, the Liang Ge branches in another set connected respectively by each branch the 7th
Revolute pair is connected with the second fixed block of surgery operation module.
One group two-by-two of four branches, per Zu Neiliangge branches two the first revolute pair axis overlap, and with another group in
Two the first revolute pair axis vertical take-offs of Liang Ge branches, intersection point is that the eighth-turn in fixing point O, surgery operation module moves secondary axis
Cross fixing point O；Per Zu Neiliangge branches two the 7th revolute pair axis overlap, and with the 7th turn of another group of Liang Ge branches
Dynamic secondary axis is vertical.
A kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including frame, surgery operation module and company
It is connected on three branches between frame and surgery operation module；It is characterized in that
Each branch includes the parallel-crank mechanism being connected by the first revolute pair with frame and two ends pass through respectively
The 5th connecting rod that 6th revolute pair and the 7th revolute pair are connected with parallel-crank mechanism and surgery operation module；
Surgery operation module includes the first fixed block, the second fixed block and is connected with the first fixed block and simultaneously by the
The operating theater instruments that eight revolute pairs are connected with the second fixed block；
Three branches are divided into two groups, the 7th rotation that the Liang Ge branches in one of which are connected by each branch respectively
Pair is connected with the first fixed block of surgery operation module, and another group of a branch passes through the 7th connected revolute pair and operation
Second fixed block of operation module is connected；Or,
The 7th revolute pair and the second of surgery operation module that Liang Ge branches in one group are connected by each branch respectively are solid
Determine block to be connected, another group of a branch passes through the first fixed block phase of the 7th connected revolute pair and surgery operation module
Even.
The first revolute pair axis that three branches are divided into two groups, a Zu Neiliangge branches is overlapped, and with remaining next point
The first revolute pair axis vertical take-off in branch, intersection point is that the dynamic secondary axis of eighth-turn in fixing point O, surgery operation module crosses fixing point
O；7th revolute pair axis of one Zu Neiliangge branches is overlapped, and vertical with remaining the 7th revolute pair axis in next branch.
The parallel-crank mechanism is by first connecting rod, second connecting rod, third connecting rod and fourth link respectively by rotating
Pair is sequentially formed by connecting.
The beneficial effects of the invention are as follows：
Parallel robot proposed by the present invention can perform single-degree-of-freedom moving movement and the two-freedom around fixing point turns
Dynamic motion, has the advantages that compact conformation, good rigidity, precision height, dynamic characteristic are good, available for Minimally Invasive Surgery field.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the embodiment of the present invention one.
Fig. 2 is the dimensional structure diagram of the embodiment of the present invention two.
Fig. 3 is the dimensional structure diagram of the embodiment of the present invention three.
Fig. 4 is the structural representation of branch.
Fig. 5 is the structural representation of surgery operation module.
Embodiment
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited in following examples.
Embodiment one
Such as Fig. 1, shown in 4,5, a kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including frame 1, operation
Operation module and four branches being connected between frame and surgery operation module.
The first revolute pair 2 that each branch includes being connected in turn between frame and surgery operation module, first connecting rod 3,
Second revolute pair 4, the 3rd revolute pair 5, second connecting rod 6, third connecting rod 7, the 4th revolute pair 8, the 5th revolute pair 9, fourth link
10th, the 6th revolute pair 11, the 5th connecting rod 12 and the 7th revolute pair 13；Wherein, first connecting rod, second connecting rod, fourth link and
Three connecting rods sequentially constitute parallel four side by the second revolute pair 4, the 4th revolute pair 8, the 5th revolute pair 9 and the 3rd revolute pair 5
Shape mechanism.
Surgery operation module includes the first fixed block 14, the second fixed block 15, the 8th revolute pair 16 and operating theater instruments 17, its
Middle operating theater instruments is fixed on the first fixed block, while being connected by the 8th revolute pair with the second fixed block.
One group two-by-two of four branches, the Liang Ge branches in one of which pass through the 7th revolute pair on the 5th connecting rod and operation
First fixed block of operation module is connected, and the Liang Ge branches in another set pass through the 7th revolute pair on the 5th connecting rod and operation
Second fixed block of operation module is connected；Per Zu Neiliangge branches two the first revolute pair axis overlap, and with another group in
Two the first revolute pair axis vertical take-offs of Liang Ge branches, intersection point is that the eighth-turn in fixing point O, surgery operation module moves secondary axis
Cross fixing point O；Per Zu Neiliangge branches two the 7th revolute pair axis overlap, and with the 7th turns auxiliary shaft of another group of branches
Line is vertical.
In the present embodiment, drive pair can choose the second revolute pair in each branch, and type of drive can select servo deceleration machine
(being omitted in figure)；When driving secondary motion, operating theater instruments can do single-degree-of-freedom moving movement and the two-freedom around O points is rotated
Motion；Now, mechanism is redundant drive.
Embodiment two
Such as Fig. 2, shown in 4,5, a kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including frame 1, operation
Operation module and three branches being connected between frame and surgery operation module.
The first revolute pair 2 that each branch includes being connected in turn between frame and surgery operation module, first connecting rod 3,
Second revolute pair 4, the 3rd revolute pair 5, second connecting rod 6, third connecting rod 7, the 4th revolute pair 8, the 5th revolute pair 9, fourth link
10th, the 6th revolute pair 11, the 5th connecting rod 12 and the 7th revolute pair 13；Wherein, first connecting rod, second connecting rod, fourth link and
Three connecting rods sequentially constitute parallel four side by the second revolute pair 4, the 4th revolute pair 8, the 5th revolute pair 9 and the 3rd revolute pair 5
Shape mechanism.
Surgery operation module includes the first fixed block 14, the second fixed block 15, the 8th revolute pair 16 and operating theater instruments 17, its
Middle operating theater instruments is fixed on the first fixed block, while being connected by the 8th revolute pair with the second fixed block.
Three branches, which are divided into two groups, one of which, contains Liang Ge branches, is rotated respectively by the 7th on the 5th connecting rod
Pair is connected with the first fixed block of surgery operation module, and in another group a branch passes through the 7th revolute pair on the 5th connecting rod
It is connected with the second fixed block of surgery operation module；First revolute pair axis of one Zu Neiliangge branches is overlapped, and with being left one
The first revolute pair axis vertical take-off in individual branch, intersection point is that the dynamic secondary axis of eighth-turn in fixing point O, surgery operation module is excessively solid
Pinpoint O；7th revolute pair axis of one Zu Neiliangge branches is overlapped, and vertical with remaining the 7th revolute pair axis in next branch
Directly.
In the present embodiment, drive pair can choose the second revolute pair in each branch, and type of drive can select servo deceleration machine
(being omitted in figure)；When driving secondary motion, operating theater instruments can do single-degree-of-freedom moving movement and the two-freedom around O points is rotated
Motion.
Embodiment three
Such as Fig. 3, shown in 4,5, a kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including frame 1, operation
Operation module and three branches being connected between frame and surgery operation module.
The first revolute pair 2 that each branch includes being connected in turn between frame and surgery operation module, first connecting rod 3,
Second revolute pair 4, the 3rd revolute pair 5, second connecting rod 6, third connecting rod 7, the 4th revolute pair 8, the 5th revolute pair 9, fourth link
10th, the 6th revolute pair 11, the 5th connecting rod 12 and the 7th revolute pair 13；Wherein, first connecting rod, second connecting rod, fourth link and
Three connecting rods sequentially constitute parallel four side by the second revolute pair 4, the 4th revolute pair 8, the 5th revolute pair 9 and the 3rd revolute pair 5
Shape mechanism.
Surgery operation module includes the first fixed block 14, the second fixed block 15, the 8th revolute pair 16 and operating theater instruments 17, its
Middle operating theater instruments is fixed on the first fixed block, while being connected by the 8th revolute pair with the second fixed block.
Three branches are divided into two groups, and Liang Ge branches are contained in one of which, by the 7th revolute pair on the 5th connecting rod with
Second fixed block of surgery operation module is connected, and a branch in another group passes through the 7th revolute pair and hand on the 5th connecting rod
First fixed block of art operation module is connected；First revolute pair axis of one Zu Neiliangge branches is overlapped, and with remaining next point
The first revolute pair axis vertical take-off in branch, intersection point is that the dynamic secondary axis of eighth-turn in fixing point O, surgery operation module crosses fixing point
O；7th revolute pair axis of one Zu Neiliangge branches is overlapped, and vertical with remaining the 7th revolute pair axis in next branch.
In the present embodiment, drive pair can choose the second revolute pair in each branch, and type of drive can select servo deceleration machine
(being omitted in figure)；When driving secondary motion, operating theater instruments can do single-degree-of-freedom moving movement and the two-freedom around O points is rotated
Motion.
Claims (5)
1. a kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including frame (1), surgery operation module and company
It is connected on four branches between frame and surgery operation module；It is characterized in that：
Each branch includes the parallel-crank mechanism being connected by the first revolute pair (2) with frame and two ends respectively by the
The 5th connecting rod (12) that six revolute pairs (11) and the 7th revolute pair (13) are connected with parallel-crank mechanism and surgery operation module；
Surgery operation module includes the first fixed block (14), the second fixed block (15) and is connected and while leads to the first fixed block
Cross the operating theater instruments (17) that the 8th revolute pair (16) is connected with the second fixed block；
One group two-by-two of four branches, the 7th revolute pair that Liang Ge branches in one of which are connected by each branch respectively with
First fixed block of surgery operation module is connected, the 7th rotation that the Liang Ge branches in another set are connected by each branch respectively
Pair is connected with the second fixed block of surgery operation module.
2. parallel Three Degree Of Freedom remote centre of motion operating robot according to claim 1, it is characterised in that：Four
One group two-by-two of branch, two the first revolute pair axis per Zu Neiliangge branches are overlapped, and with the two of another Zu Neiliangge branches
Individual first revolute pair axis vertical take-off, intersection point is that the dynamic secondary axis of eighth-turn in fixing point O, surgery operation module crosses fixing point O；Often
Two the 7th revolute pair axis of Zu Neiliangge branches are overlapped, and are hung down with the 7th revolute pair axis of another group of Liang Ge branches
Directly.
3. a kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including frame (1), surgery operation module and company
It is connected on three branches between frame and surgery operation module；It is characterized in that
Each branch includes the parallel-crank mechanism being connected by the first revolute pair (2) with frame and two ends respectively by the
The 5th connecting rod (12) that six revolute pairs (11) and the 7th revolute pair (13) are connected with parallel-crank mechanism and surgery operation module；
Surgery operation module includes the first fixed block (14), the second fixed block (15) and is connected and while leads to the first fixed block
Cross the operating theater instruments (17) that the 8th revolute pair (16) is connected with the second fixed block；
Three branches are divided into two groups, the 7th revolute pair that the Liang Ge branches in one of which are connected by each branch respectively with
First fixed block of surgery operation module is connected, and another group of a branch passes through connected the 7th revolute pair and operation technique
Second fixed block of module is connected；Or,
The 7th revolute pair and the second fixed block of surgery operation module that Liang Ge branches in one group are connected by each branch respectively
It is connected, another group of a branch passes through the 7th connected revolute pair and is connected with the first fixed block of surgery operation module.
4. parallel Three Degree Of Freedom remote centre of motion operating robot according to claim 3, it is characterised in that：Three
The first revolute pair axis that branch is divided into two groups, a Zu Neiliangge branches is overlapped, and with remaining first turn in next branch
Dynamic secondary axis is orthogonal, and intersection point is that the dynamic secondary axis of eighth-turn in fixing point O, surgery operation module crosses fixing point O；Two in one group
7th revolute pair axis of branch is overlapped, and vertical with remaining the 7th revolute pair axis in next branch.
5. the parallel Three Degree Of Freedom remote centre of motion operating robot according to claim 1 or 2 or 3 or 4, its feature
It is：The parallel-crank mechanism by first connecting rod, second connecting rod, third connecting rod and fourth link respectively by revolute pair according to
Sequence is formed by connecting.
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| CN201710339684.1A CN107049498B (en) | 2017-05-15 | 2017-05-15 | Parallel three-degree-of-freedom remote motion center surgical robot |
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|---|---|---|---|
| CN201710339684.1A CN107049498B (en) | 2017-05-15 | 2017-05-15 | Parallel three-degree-of-freedom remote motion center surgical robot |
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| CN107049498B CN107049498B (en) | 2023-10-20 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236685A (en) * | 2019-06-18 | 2019-09-17 | 西安交通大学 | A kind of slave manipulator arm for laser ablation Minimally Invasive Surgery |
| WO2022151216A1 (en) * | 2021-01-14 | 2022-07-21 | 苏州迈澜医疗科技有限公司 | Mechanism having remote center of motion, and operating device |
| WO2022151223A1 (en) * | 2021-01-14 | 2022-07-21 | 苏州迈澜医疗科技有限公司 | Mechanism having remote center of rotation and working device |
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|---|---|
| CN107049498B (en) | 2023-10-20 |
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