CN107157581B - Decoupling four-degree-of-freedom telecentric mechanism for in-vitro minimally invasive surgery - Google Patents
Decoupling four-degree-of-freedom telecentric mechanism for in-vitro minimally invasive surgery Download PDFInfo
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- CN107157581B CN107157581B CN201710219924.4A CN201710219924A CN107157581B CN 107157581 B CN107157581 B CN 107157581B CN 201710219924 A CN201710219924 A CN 201710219924A CN 107157581 B CN107157581 B CN 107157581B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 37
- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 11
- 238000000338 in vitro Methods 0.000 title description 5
- 230000001360 synchronised effect Effects 0.000 claims abstract description 89
- 230000033001 locomotion Effects 0.000 claims abstract description 72
- 238000003825 pressing Methods 0.000 claims description 9
- 238000001356 surgical procedure Methods 0.000 claims 3
- 230000003187 abdominal effect Effects 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012830 laparoscopic surgical procedure Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The invention relates to a decoupling four-degree-of-freedom telecentric mechanism for supporting an endoscope in an extracorporeal minimally invasive surgery, which comprises a rack, a rotating arm, a guide rail system, a fixed point telecentric motion branched chain and a synchronous belt motion branched chain, wherein the rotating arm is connected to the rack through a first revolute pair, the fixed point telecentric motion branched chain is rotationally connected with the guide rail system, and the synchronous belt motion branched chain and the fixed point telecentric motion branched chain are connected between the rotating arm and the endoscope; the three-rotation one-movement three-freedom-degree motion of the endoscope around the rotation center at the far position is realized through the active motion of the rotating arm, the active motion of the fixed-point telecentric branched chain and the active motion of the synchronous belt motion branched chain. The invention realizes the decoupling four-freedom-degree motion rotating around the center of the far position, and except that the motor for driving the rotation is close to the tail end, the other three driving motors are all far away from the tail end endoscope, thereby leading the tail end actuating mechanism for supporting the endoscope to have lighter weight and smaller motion inertia and providing stable and enhanced abdominal pictures.
Description
Technical Field
The invention relates to a mechanism for minimally invasive surgery, in particular to a decoupling four-degree-of-freedom telecentric mechanism for in-vitro minimally invasive surgery.
Background
The parallel mechanism is widely applied to the fields of heavy-load simulation equipment, robots, numerical control machines, sensors, micro-operation and the like. However, the drive units of the parallel mechanism are coupled, that is, the motion of the output platform of the parallel mechanism as a whole in any direction is the motion composition of all the drive units, and the motion of each drive unit is nonlinear with the motion (input and output) of the parallel mechanism as a whole. This characteristic results in complex control of the parallel mechanism, difficult calibration, and limits the improvement of precision. Therefore, how to realize the decoupling of the parallel mechanism, simplify the control and calibration, and improve the motion precision is always a difficult and challenging subject.
The motion decoupling parallel robot means that any degree of freedom of output motion only depends on a single driving unit, and the action of other driving units does not influence the degree of freedom. The parallel mechanism with complete decoupling has simple motion relation, simple and convenient calibration, high control precision and high rigidity, and has wide application prospect in virtual axis machine tools and robots.
[ Hunt K H.Structure vertical mechanics of In-Parallel-operated Robot Arms, Journal of mechanics, transmission and Automation In Design,1983,105:705-712] reports a Parallel mechanism with two rotational degrees of freedom and one moving degree of freedom, which mainly comprises a frame, a movable platform and three moving branched chains with the same structural form fixedly connected between the frame and the movable platform, wherein each moving branched chain sequentially comprises a rotating pair, a moving pair, a ball hinge and a rod piece between the rotating pair, the moving pair and the ball hinge, and the three moving branched chains are spatially and symmetrically distributed. The literature [ Huang Z, Wang J.Fang YF, Analysis of instant movements of decision-Rank 3-RPS parallel mechanics, Mechanism and Machine Theory,2002,37(2):229-240 ] reports that this type of parallel mechanism has a transient motion, the axis of its rotational freedom being present only on a single hyperboloid.
Chinese patent document CN101036986A reports a two-rotation one-movement parallel mechanism composed of a movable platform, a fixed platform and four closed-loop moving branched chains connecting them, each closed-loop branched chain contains a six-rod spherical mechanism with a kind of symmetric structure, and the movable platform and the fixed platform are connected with each branched chain by a revolute pair. The literature [ Xianwen Kong, element M.GosselnType synthesis of input-output-reduced parallel reactors, Transactionsof the CSME, Vol.28, Special Edition,2004] reports a parallel mechanism with two mobile and one rotational degrees of freedom, consisting of a mobile platform, a fixed platform and a series-parallel hybrid of mobile branches. The document [ Lihuilan, Jinqiong, Yangtian force, a one-translation and two-rotation decoupling parallel mechanism, displacement analysis, mechanical manufacturing and research, Feb 2002 (1):9-12,14] proposes a two-rotation and one-movement parallel mechanism with a triangularization decoupling characteristic, but the output freedom degree is not completely controlled by a single driver, still belongs to a decoupling parallel mechanism, and the document invention of a completely decoupled four-freedom-degree spherical mechanism is not searched at present.
Chinese patent CN104985610A discloses a one-movement three-rotation four-degree-of-freedom rotation movement complete decoupling parallel mechanism, which comprises: move platform, base and three branched chains, wherein: one end of each branched chain is movably connected with the base, the other end of each branched chain is movably connected with the movable platform, and the three branched chains are double-rotational-freedom branched chains, wherein: at least one branched chain is movably connected with the base in one dimension, so that the movable platform moves in one dimension and rotates in three degrees of freedom in a spherical surface around a fixed point O; the rotating characteristic of the movable platform has the characteristic of complete decoupling of rotating and moving. This patent has that three branched chain structures are complicated, and the structure is great can only use in fixed place, consequently urgently need to design the simple arm of a single branch chain and be applied to supporting the endoscope, replaces the people to support the endoscope in the operation for improve the efficiency of operation, and simple structure conveniently carries.
Conventional laparoscopic surgical procedures often require the support of the endoscope by a medical practitioner. When a human body is tired or shaken, the picture of the endoscope is fuzzy and unclear, and the operation of a doctor is directly influenced. The robot replaces manual support of the endoscope, the workload of medical staff can be reduced, clear images can be guaranteed, and the error rate and the operation time of doctor operations can be reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a decoupling four-degree-of-freedom telecentric mechanism for an extracorporeal minimally invasive surgery, which has three rotational degrees of freedom and one moving degree of freedom, is completely decoupled, realizes fixed-point telecentric motion, and can be used for supporting an endoscope.
The purpose of the invention can be realized by the following technical scheme:
a decoupling four-freedom-degree telecentric mechanism for an in vitro minimally invasive surgery is used for supporting an endoscope and comprises a frame, a rotating arm, a guide rail system, a fixed-point telecentric movement branched chain and a synchronous belt movement branched chain,
the rotating arm is connected to the frame through a first revolute pair,
the fixed point telecentric movement branched chain is rotationally connected with the guide rail system,
the synchronous belt motion branched chain and the fixed point telecentric motion branched chain are connected between the rotating arm and the endoscope; the three-rotation one-movement three-freedom-degree motion of the endoscope around the rotation center at the far position is realized through the active motion of the rotating arm, the active motion of the fixed-point telecentric branched chain and the active motion of the synchronous belt motion branched chain.
The rotating arm comprises a second rotating pair, a first rotating shaft, a third rotating pair and a second rotating shaft;
the first rotating shaft is rotatably connected with the rotating arm through a second rotating pair, and the second rotating shaft is rotatably connected with the rotating arm through a third rotating pair.
The rotation axes of the first rotating pair and the second rotating pair are collinear and mutually perpendicular and are parallel to the bottom surface of the rack; the second revolute pair and the third revolute pair are arranged in parallel; the axis of the first rotating pair intersects with the axis of the endoscope and points.
The guide rail system comprises a fourth rotating pair, a third rotating shaft, a fifth rotating pair, a sixth rotating pair, a U-shaped connecting block, a guide rail mounting plate, a guide rail, a sliding block, a synchronous belt pressing plate, a positioning block, a tensioning device and a seventh rotating pair;
third axis of rotation and U-shaped connecting block pass through fourth revolute pair and fifth revolute pair and rotate and be connected, guide rail and guide rail mounting panel fixed connection, slider and guide rail sliding connection, hold-in range clamp plate and slider fixed connection, the dog be fixed in on the guide rail mounting panel, overspeed device tensioner and guide rail mounting panel sliding connection.
The fixed point telecentric movement branched chain comprises an eighth revolute pair, a ninth revolute pair, a first rod piece, a second rod piece, a tenth revolute pair, an eleventh revolute pair, a twelfth revolute pair, a third rod piece and a fourth rod piece;
one end of the first rod piece is rotatably connected with the first rotating shaft through an eighth rotating pair, the other end of the first rod piece is rotatably connected with one end of the third rod piece through a tenth rotating pair, one end of the second rod piece is fixedly connected with the second rotating shaft through a ninth rotating pair, the third rod piece is rotatably connected with the second rod piece through an eleventh rotating pair, one end of the fourth rod piece is rotatably connected with the second rod piece through a twelfth rotating pair, and the fixed-point telecentric movement branched chain and the guide rail system are rotatably connected through the fifth rotating pair and the sixth rotating pair through the other ends of the third rod piece and the fourth rod piece respectively.
The synchronous belt movement branched chain comprises a first synchronous belt wheel, a fourth rotating shaft, a second synchronous belt wheel, a first synchronous belt, a third synchronous belt wheel, a second synchronous belt, a fourth synchronous belt wheel, a fifth synchronous belt wheel, a third synchronous belt and a sixth synchronous belt wheel;
the first synchronous belt wheel is fixedly connected with the first rotating shaft, the fourth rotating shaft is rotatably connected with the first rod piece through a tenth revolute pair, the second synchronous belt wheel, the third synchronous belt wheel and the fourth rotating shaft are fixedly connected, the first synchronous belt is installed on the first belt wheel and the second belt wheel, the fourth synchronous belt wheel is fixedly connected with the third rotating shaft, the second synchronous belt is installed on the third synchronous belt wheel and the fourth synchronous belt wheel, the fifth synchronous belt wheel is fixedly connected with the third rotating shaft, the sixth synchronous belt wheel is rotatably connected with the tensioning device through a seventh revolute pair, and the third synchronous belt is installed on the fifth synchronous belt wheel and the sixth synchronous belt wheel.
The endoscope is rotatably connected with the sliding block to realize the movement and the rotation along the axis.
The synchronous belt pressing plate is fixedly connected with the third synchronous belt, so that the third synchronous belt rotates to drive the sliding block to move.
The motors are arranged at the top ends of the first rotating pair, the second rotating pair, the third rotating pair and the endoscope independently, so that four degrees of freedom are controlled by a single driving motor respectively, and the endoscope has the motion characteristic of complete decoupling.
Compared with the prior art, the invention has the following advantages:
(1) the decoupling drive of multiple joints is realized through a moving branched chain comprehensive method based on a parallelogram and synchronous belt moving structure;
(2) the motor for controlling the degree of freedom of movement is arranged on the robot frame, and the synchronous belt is used for transmission, so that the motion inertia of the tail end of the robot is obviously reduced, and the motion flexibility of the robot is effectively improved;
(3) the mechanism is driven by a revolute pair, and a synchronous belt mechanism is used for converting rotary motion into linear motion, so that a rotation-movement motion transmission mode of a ball screw and the like is avoided, and the motion efficiency and the transmission precision are improved.
(4) The decoupling four-degree-of-freedom motion rotating around the center of the far position is realized, except that the motor for driving rotation is close to the tail end, the other three driving motors are all far away from the tail end endoscope, so that the tail end executing mechanism for supporting the endoscope is lighter in mass and smaller in motion inertia, and a stable and enhanced abdominal cavity picture is provided.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the guide rail system of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Examples
The invention relates to an end actuating mechanism for supporting an endoscope in a minimally invasive surgery, in particular to a decoupling four-degree-of-freedom telecentric mechanism for an in vitro minimally invasive surgery, which has a structure shown in figure 1. The mechanism has three rotational degrees of freedom and one moving degree of freedom, is completely decoupled, and simultaneously realizes fixed-point telecentric motion, and comprises a rack 1, a rotating arm 2, a guide rail system 3, a fixed-point telecentric motion branched chain 4, a synchronous belt motion branched chain 5 and an endoscope 6.
The rotating arm 2 is connected to the frame 1 through a first revolute pair 11; the rotating arm 2 includes a second rotating pair 21, a first rotating shaft 22, a third rotating pair 23 and a second rotating shaft 24; wherein the first rotation axis 22 is rotatably connected with the rotation arm 2 through the second rotation pair 21, and the second rotation axis 24 is rotatably connected with the rotation arm 2 through the third rotation pair 23.
The guide rail system 3 is configured as shown in fig. 2, and includes a fourth rotating pair 31, a third rotating shaft 32, a fifth rotating pair 33, a sixth rotating pair 34, a U-shaped connecting block 35, a guide rail mounting plate 36, a guide rail 37, a slider 38, a synchronous belt pressing plate 39, a positioning block 310, a tensioning device 311, and a seventh rotating pair 312; the third rotating shaft 32 is rotatably connected with the U-shaped connecting block 35 through the four rotating pairs 31 and the fifth rotating pair 33, the guide rail 37 is fixedly connected with the guide rail mounting plate 36, the slide block 38 is slidably connected with the guide rail 37, the synchronous belt pressing plate 39 is fixedly connected with the slide block 38, the stopper 310 is fixed on the guide rail mounting plate 36, and the tensioning device 311 is slidably connected with the guide rail mounting plate 36.
The fixed-point telecentric movement branched chain 4 comprises an eighth revolute pair 41, a ninth revolute pair 42, a first rod 43, a second rod 44, a tenth revolute pair 45, an eleventh revolute pair 46, a twelfth revolute pair 47, a third rod 48 and a fourth rod 49; one end of the first rod 43 is rotatably connected with the first rotating shaft 22 through an eighth rotating pair 41, the other end of the first rod is rotatably connected with one end of the third rod 48 through a tenth rotating pair 45, one end of the second rod 44 is fixedly connected with the second rotating shaft 24 through a ninth rotating pair 42, the third rod 48 is rotatably connected with the second rod 44 through an eleventh rotating pair 46, one end of the fourth rod 49 is rotatably connected with the second rod 44 through a twelfth rotating pair 47, and the fixed point telecentric movement branched chain 4 and the guide rail system 3 are rotatably connected through the fifth rotating pair 33 and the sixth rotating pair 34 through the other ends of the third rod 48 and the fourth rod 49 respectively.
The timing belt moving branched chain 5 includes a first timing pulley 51, a fourth rotating shaft 52, a second timing pulley 53, a first timing belt 54, a third timing pulley 55, a second timing belt 56, a fourth timing pulley 57, a fifth timing pulley 58, a third timing belt 59, and a sixth timing pulley 510; the first synchronous pulley 51 is fixedly connected with the first rotating shaft 21, the fourth rotating shaft 52 is rotatably connected with the first rod 43 through a tenth revolute pair 45, the second synchronous pulley 53 and the third synchronous pulley 55 are both fixedly connected with the fourth rotating shaft 52, the first synchronous belt 54 is installed on the first pulley 51 and the second pulley 53, the fourth synchronous pulley 57 is fixedly connected with the third rotating shaft 32, the second synchronous belt 56 is installed on the third synchronous pulley 55 and the fourth synchronous pulley 57, the fifth synchronous pulley 58 is fixedly connected with the third rotating shaft 32, the sixth synchronous pulley 510 is rotatably connected with the tensioning device 311 through a seventh revolute pair 312, and the third synchronous belt 59 is installed on the fifth synchronous pulley 58 and the sixth synchronous pulley 510.
The endoscope 6 is rotatably connected with the slide block 38 and can move and rotate along the axis; the synchronous belt pressing plate 39 is fixedly connected with the third synchronous belt 59, so that the third synchronous belt 59 rotates to drive the sliding block 38 to move.
The invention is characterized in that the rotation axes of the first rotation pair and the second rotation pair are collinear and mutually vertical and are parallel to the bottom surface of the frame; the second revolute pair is parallel to the third revolute pair; the axis of the first rotating pair intersects with the axis of the endoscope and points. The synchronous belt pressing plate is fixedly connected with the third synchronous belt, so that the third synchronous belt rotates to drive the sliding block to move. The endoscope is rotatably connected with the sliding block and can move and rotate along the axis. The motors are arranged at the top ends of the first rotating pair, the second rotating pair, the third rotating pair and the endoscope independently, so that four degrees of freedom are controlled by a single driving motor respectively, and the endoscope has the motion characteristic of complete decoupling.
The working principle of the invention is as follows:
the first rotating pair 11, the second rotating pair 21, the third rotating pair 23 and the endoscope are all provided with motors. When the first rotating pair 21 rotates, the driving end endoscope 6 rotates around the axis of the first rotating pair 11 which is over-point telecentric; when the second revolute pair 21 rotates, the end endoscope 6 is driven to move up and down along the axis; when the third revolute pair 23 rotates, fixed-point telecentric motion of the endoscope is realized; when a motor provided at the tip end of the endoscope rotates, the endoscope 6 is driven to rotate on its own axis.
The invention realizes the three-rotation one-movement four-freedom-degree motion of the end endoscope around the far rotation center, and the three rotation degrees of freedom and one movement degree of freedom are respectively controlled by a single active motor, thereby having the motion characteristic of complete decoupling.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (5)
1. A decoupling four-degree-of-freedom telecentric mechanism for supporting an endoscope in an extracorporeal minimally invasive surgery is characterized by comprising a frame, a rotating arm, a guide rail system, a fixed-point telecentric motion branched chain and a synchronous belt motion branched chain,
the rotating arm is connected to the frame through a first revolute pair,
the fixed point telecentric movement branched chain is rotationally connected with the guide rail system,
the synchronous belt motion branched chain and the fixed point telecentric motion branched chain are connected between the rotating arm and the endoscope; three-rotation one-movement three-freedom-degree motion of the endoscope around a far-away rotation center is realized through the active motion of the rotating arm, the active motion of the fixed-point telecentric branched chain and the active motion of the synchronous belt motion branched chain;
the rotating arm comprises a second rotating pair, a first rotating shaft, a third rotating pair and a second rotating shaft;
the first rotating shaft is rotatably connected with the rotating arm through a second rotating pair, and the second rotating shaft is rotatably connected with the rotating arm through a third rotating pair;
the guide rail system comprises a fourth rotating pair, a third rotating shaft, a fifth rotating pair, a sixth rotating pair, a U-shaped connecting block, a guide rail mounting plate, a guide rail, a sliding block, a synchronous belt pressing plate, a positioning block, a tensioning device and a seventh rotating pair;
the third rotating shaft is rotatably connected with the U-shaped connecting block through a fourth rotating pair and a fifth rotating pair, the guide rail is fixedly connected with the guide rail mounting plate, the sliding block is slidably connected with the guide rail, the synchronous belt pressing plate is fixedly connected with the sliding block, a stop block is fixed on the guide rail mounting plate, and the tensioning device is slidably connected with the guide rail mounting plate;
the fixed point telecentric movement branched chain comprises an eighth revolute pair, a ninth revolute pair, a first rod piece, a second rod piece, a tenth revolute pair, an eleventh revolute pair, a twelfth revolute pair, a third rod piece and a fourth rod piece;
one end of the first rod piece is rotatably connected with the first rotating shaft through an eighth rotating pair, the other end of the first rod piece is rotatably connected with one end of the third rod piece through a tenth rotating pair, one end of the second rod piece is fixedly connected with the second rotating shaft through a ninth rotating pair, the third rod piece is rotatably connected with the second rod piece through an eleventh rotating pair, one end of the fourth rod piece is rotatably connected with the second rod piece through a twelfth rotating pair, and the fixed-point telecentric movement branched chain is rotatably connected with the guide rail system through the third rod piece and the other end of the fourth rod piece through a fifth rotating pair and a sixth rotating pair respectively;
the synchronous belt movement branched chain comprises a first synchronous belt wheel, a fourth rotating shaft, a second synchronous belt wheel, a first synchronous belt, a third synchronous belt wheel, a second synchronous belt, a fourth synchronous belt wheel, a fifth synchronous belt wheel, a third synchronous belt and a sixth synchronous belt wheel;
the first synchronous belt wheel is fixedly connected with the first rotating shaft, the fourth rotating shaft is rotatably connected with the first rod piece through a tenth revolute pair, the second synchronous belt wheel, the third synchronous belt wheel and the fourth rotating shaft are fixedly connected, the first synchronous belt is installed on the first belt wheel and the second belt wheel, the fourth synchronous belt wheel is fixedly connected with the third rotating shaft, the second synchronous belt is installed on the third synchronous belt wheel and the fourth synchronous belt wheel, the fifth synchronous belt wheel is fixedly connected with the third rotating shaft, the sixth synchronous belt wheel is rotatably connected with the tensioning device through a seventh revolute pair, and the third synchronous belt is installed on the fifth synchronous belt wheel and the sixth synchronous belt wheel.
2. The decoupled four-degree-of-freedom telecentric mechanism for the endoscope used in the minimally invasive extracorporeal surgery according to claim 1, wherein the rotation axis of the first revolute pair and the rotation axis of the second revolute pair are collinear and perpendicular to each other and parallel to the bottom surface of the frame; the second revolute pair and the third revolute pair are arranged in parallel; the axis of the first rotating pair intersects with the axis of the endoscope and points.
3. The decoupled four-degree-of-freedom telecentric mechanism for the endoscope used in the minimally invasive extracorporeal surgery according to claim 1, wherein the endoscope is rotatably connected with the slide block to realize the movement and rotation along the axis.
4. The decoupling four-degree-of-freedom telecentric mechanism for the endoscope used in the extracorporeal minimally invasive surgery according to claim 1, wherein the synchronous belt pressing plate is fixedly connected with the third synchronous belt, so that the third synchronous belt rotates to drive the sliding block to move.
5. The decoupled four-degree-of-freedom telecentric mechanism for the endoscope used in the minimally invasive extracorporeal surgery according to claim 1, wherein the first revolute pair, the second revolute pair, the third revolute pair and the endoscope are all provided with motors separately at the top end.
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| WO2023079521A1 (en) * | 2021-11-08 | 2023-05-11 | Covidien Lp | Linear transmission mechanism for actuating a prismatic joint of a surgical robot |
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| CN109009443A (en) * | 2018-08-15 | 2018-12-18 | 苏州大学张家港工业技术研究院 | Abdominal minimally invasive surgery robot |
| CN109528440B (en) * | 2018-10-23 | 2021-03-02 | 哈尔滨工业大学 | Lower limb exoskeleton ankle joint based on telecentric mechanism |
| CN113116568B (en) * | 2021-04-08 | 2022-05-20 | 天津大学 | Series-parallel dental surgery robot structure |
| CN113598953A (en) * | 2021-08-17 | 2021-11-05 | 浙江理工大学 | Four-degree-of-freedom far-center mechanism for minimally invasive surgery |
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| CN201143680Y (en) * | 2008-01-25 | 2008-11-05 | 常熟理工学院 | Four-freedom degree complete decoupling linear transmission column co-ordinate-type mechanical arm |
| CN101889900B (en) * | 2010-07-12 | 2012-04-11 | 天津大学 | Master-slave integrated mechanical arm for assisting minimally invasive surgery |
| CN103932790B (en) * | 2014-03-11 | 2016-01-27 | 哈尔滨工程大学 | There is the surgical operation robot Two-Degree-of-Freedom mechanism of rapid replacing interface function |
| CN104224328B (en) * | 2014-10-11 | 2017-05-24 | 天津工业大学 | Robot body structure for supporting minimally-invasive surgery instrument |
| CN105710864B (en) * | 2016-04-12 | 2018-02-02 | 上海工程技术大学 | Decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery |
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| WO2023079521A1 (en) * | 2021-11-08 | 2023-05-11 | Covidien Lp | Linear transmission mechanism for actuating a prismatic joint of a surgical robot |
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