CN108042208B - Active arm of minimally invasive surgery robot - Google Patents
Active arm of minimally invasive surgery robot Download PDFInfo
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- CN108042208B CN108042208B CN201711129178.6A CN201711129178A CN108042208B CN 108042208 B CN108042208 B CN 108042208B CN 201711129178 A CN201711129178 A CN 201711129178A CN 108042208 B CN108042208 B CN 108042208B
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- driving
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 claims abstract description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 description 13
- 238000011161 development Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 101000623895 Bos taurus Mucin-15 Proteins 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 206010067268 Post procedural infection Diseases 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- A61B34/37—Master-slave 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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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention provides an active arm of a minimally invasive surgery robot, and belongs to the technical field of medical instruments. The problem that an existing surgical robot driving arm occupies a large space and is small in stretching range is solved. The driving arm of the minimally invasive surgery robot comprises a supporting body, a supporting arm arranged on the supporting body and a sliding arm arranged on the supporting arm, wherein a surgical instrument with an instrument hand is arranged on the sliding arm, a circular arc-shaped guide rail I is arranged on one side of the supporting arm, a sliding block is arranged on the sliding arm, a driving component I used for driving the sliding block to slide along the guide rail I is arranged between the supporting arm and the sliding arm, and the instrument hand always extends along the radial direction of the guide rail I in the process of moving the sliding arm along the guide rail I. The invention has the advantages of large extension range, small volume and the like.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and relates to a minimally invasive surgery robot, in particular to a minimally invasive surgery robot driving arm.
Background
With the application and development of robot technology, particularly the development of computing technology, medical surgical robots are receiving more and more attention in clinic. The minimally invasive surgery robot can reduce the manual labor of doctors in the surgery process, and simultaneously achieves the purpose of accurate surgery, so that the patient is minimally invasive, has little blood loss, less postoperative infection and quick postoperative recovery. Minimally invasive surgical robotic systems typically use a master-slave control mode: when an operator operates the master hand, the hand movement of the operator drives the master hand to move along with the master hand, the sensor at the joint of the master hand can measure movement information, and then the movement of the master hand is mapped to the slave hand driving arm through the master-slave control algorithm, and each joint of the slave hand driving arm moves passively to drive the surgical instrument to realize corresponding movement. The key components of the active arm of the minimally invasive surgery robot mainly comprise a remote movement center mechanism and surgical instruments, and the design advantages and disadvantages of the mechanical structure of the active arm directly influence the performance of the minimally invasive surgery robot and restrict the research, development and design of other components in the system.
For example, chinese patent discloses an auxiliary minimally invasive surgical robot arm [ application publication No. CN105748153a ], comprising a connecting seat I and a connecting rod II, the axis of the connecting rod II and parallel lines of the axes of the connecting rod III, the connecting rod IV and the connecting seat VIII form a parallelogram OPQR. Under the drive of motor I, axle II drive connecting rod III rotates around the P point, axle IV drive connecting rod IV rotates around the Q point, axle VI drive connecting seat VIII rotates around the R point, and the arm is around fixed point O point as the center and does parallelogram swing motion in the plane that connecting rod II's axis and the parallel line of connecting rod III, connecting rod IV and connecting seat VIII axis constitute. Under the drive of the motor II, the connecting rod II rotates around the axial direction of the connecting rod II, and the mechanical arm swings around the axis of the connecting rod II by taking the fixed point O as the center.
In order to enable the axis of the connecting seat VIII to always pass through the O point, when the connecting seat VIII swings after the connecting rod III swings, the connecting seat VIII needs to swing at the same angle as the swinging angle of the connecting rod III, and a linkage structure is arranged in the connecting rod IV, so that the connecting seat is high in structural complexity, large in integral size and heavy in weight. Because connecting rod III and connecting rod IV are the straight-bar, in order to reach bigger range of motion, connecting rod III and connecting rod IV's swing angle is big, and then the required movement space is big, causes whole occupation space big, can't use in some narrow and small places, and application scope is little.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a minimally invasive surgery robot driving arm with small occupied space.
The aim of the invention can be achieved by the following technical scheme:
The driving arm of the minimally invasive surgery robot comprises a supporting body, a supporting arm arranged on the supporting body and a sliding arm arranged on the supporting arm, wherein a surgical instrument with an instrument hand is arranged on the sliding arm.
In the aforementioned minimally invasive surgery robot driving arm, the supporting arm is arc-shaped, the central axis of the arc section formed by the supporting arm is coaxial with the central axis of the arc section formed by the first guide rail, the instrument hand intersects with the central axis of the arc section formed by the first guide rail to form a telecentric point, and the instrument hand swings around the telecentric point as a center of a circle during the movement of the sliding arm along the first guide rail.
In the aforementioned minimally invasive surgery robot driving arm, the first driving assembly comprises an arc-shaped rack provided on the inner ring surface of the supporting arm, a first driving motor fixed on the sliding arm, a first speed reducer in transmission connection with the first driving motor, and a first gear provided on an output shaft of the speed reducer, the first gear is meshed with the arc-shaped rack, and a central axis of an arc section formed by the arc-shaped rack is coaxial with a central axis of an arc section formed by the guide rail.
In the aforementioned minimally invasive surgery robot driving arm, the support body is provided with the connecting arm, one side of the connecting arm is provided with the arc-shaped guide rail II, the support arm is provided with the arc-shaped guide groove II matched with the guide rail II on the opposite side of the guide rail I, the central axis of the arc section formed by the arc-shaped guide groove II is coaxial with the central axis of the arc section formed by the guide rail II, the support arm is in sliding fit on the guide rail II through the arc-shaped guide groove II, and a driving component II for driving the support arm to slide along the guide rail II is arranged between the support arm and the connecting arm.
In the driving arm of the minimally invasive surgery robot, the supporting arm is arc-shaped, the driving assembly II comprises an arc-shaped rack II arranged on the outer ring surface of the supporting arm, a speed reducer II fixed on the connecting arm and driven by a driving motor II, and a gear II arranged on an output shaft of the speed reducer II, the gear II is meshed with the arc-shaped rack II, and the central axis of an arc section formed by the arc-shaped rack II is coaxial with the central axis of an arc section formed by the guide rail I.
In the aforementioned minimally invasive surgery robot driving arm, the support body on be equipped with the fixed arm, one side of fixed arm is equipped with arc guide rail three, the linking arm be equipped with guide rail three complex arc guide slot three with guide rail two's opposite side, the axis of the arc section of constituteing by arc guide slot three and the axis of the arc section of constituteing by guide rail two coaxial, the axis of the arc section of constituteing by arc guide slot three and the axis of the arc section of constituteing by guide rail three coaxial, the linking arm pass through arc guide slot three sliding fit on guide rail three, linking arm and fixed arm between be equipped with and be used for driving linking arm along the gliding drive assembly three of guide rail three.
In the driving arm of the minimally invasive surgery robot, the fixing arm is arc-shaped, the driving assembly III comprises an arc-shaped rack III arranged on the outer ring surface of the connecting arm, a speed reducer III fixed on the fixing arm and driven by a driving motor III, and a gear III arranged on an output shaft of the speed reducer III, the gear III is meshed with the arc-shaped rack III, and the central axis of an arc section formed by the arc-shaped rack III is coaxial with the central axis of an arc section formed by the guide rail II.
In the minimally invasive surgery robot driving arm, the support body is fixedly provided with the roll motor, the fixing arm is in transmission connection with the support body through the roll motor, the central axis of the roll motor is intersected with the telecentric point, and the fixing arm is fixed on the roll motor. The specific fixing mode is that a connecting seat is arranged on the side part of the roll motor, a fixing arm is fixed on the connecting seat, and then an output shaft of the roll motor is fixedly connected with a supporting body.
In the driving arm of the minimally invasive surgery robot, the second speed reducer is arranged at one end of the connecting arm far away from the supporting body; the third speed reducer is arranged at one end of the fixed arm far away from the support body.
In the aforementioned minimally invasive surgery robot driving arm, two ends of the first guide rail are respectively provided with a first limit part, and the slide block is slidably arranged on the first guide rail between the two first limit parts; a first limiting component is arranged between the second circular arc-shaped guide groove and the second guide rail, and a second limiting component is arranged between the third circular arc-shaped guide groove and the third guide rail.
In the aforementioned minimally invasive surgery robot driving arm, the first limiting component comprises a first limiting protrusion arranged on the second guide rail and a first limiting groove arranged in the second circular arc-shaped guide groove, the central axis of the circular arc section formed by the first limiting groove is coaxial with the central axis of the circular arc section formed by the second circular arc-shaped guide groove, and the first limiting protrusion extends into the first limiting groove.
The first limiting groove is an arc-shaped groove with two closed ends, and when the first limiting protrusion is inserted into the first limiting groove, the first limiting groove is limited by the two closed ends of the first limiting groove, so that the second guide rail is prevented from being separated from the second guide groove in the moving direction.
In the driving arm of the minimally invasive surgery robot, the second limiting component comprises a second limiting protrusion arranged on the third guide rail and a second limiting groove arranged in the third circular arc guide groove, the central axis of the circular arc section formed by the second limiting groove is coaxial with the central axis of the circular arc section formed by the third circular arc guide groove, and the second limiting protrusion extends into the second limiting groove.
The second limiting groove is an arc-shaped groove with two closed ends, and when the second limiting protrusion is inserted into the second limiting groove, the second limiting groove is limited by the two closed ends of the second limiting groove, so that the third guide rail is prevented from being separated from the third guide groove in the moving direction.
When the driving motor III works, the gear III is driven to rotate, so that the connecting arm is controlled to stretch and retract along the guide rail III; when the driving motor II works, the gear II is driven to rotate, so that the supporting arm is controlled to stretch along the guide rail II; when the driving motor I works, the gear I is driven to rotate, so that the sliding arm is controlled to slide along the guide rail I; the surgical instrument drives the instrument hand to axially move.
The support arm and the connecting arm can independently work from a contracted state to an expanded state, the first driving motor, the second driving motor and the third driving motor can also be linked, the first driving motor controls the sliding arm to move to the limit position preferentially, then the second driving motor controls the support arm to move to the limit position, finally the third driving motor controls the connecting arm to move to the limit, and when the roll motor works, the fixing arm, the connecting arm, the support arm and the sliding arm can be driven to synchronously move, and in the whole movement process, the instrument hand always points to the telecentric point.
Compared with the prior art, the active arm of the minimally invasive surgery robot has the following advantages:
Arc-shaped guide rails are respectively arranged on the support arm, the connecting arm and the fixed arm, and the smaller guide rails have larger movement range and small volume; the straight line telecentric point in the instrument hand (namely, the position of the telecentric point cannot be influenced) can effectively ensure the safety during the movement.
Drawings
Fig. 1 is a schematic structural view of a preferred embodiment of the present invention.
Fig. 2 is a developed state diagram of the actuator arm provided by the present invention.
Fig. 3 is a contracted state diagram of the actuator arm provided by the present invention.
In the figure, 1, a support; 2. a support arm; 3. a sliding arm; 4. an instrument hand; 5. a first guide rail; 6. a slide block; 7. a first rack; 8. a first motor; 9. a first speed reducer; 10. a connecting arm; 11. a second guide rail; 12. a second rack; 13. a second speed reducer; 14. a second gear; 15. a fixed arm; 16. a guide rail III; 17. a third rack; 18. a third speed reducer; 19. a third gear; 20. and a roll motor.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
The minimally invasive surgery robot driving arm shown in fig. 1 comprises a supporting body 1, a supporting arm 2 arranged on the supporting body 1 and a sliding arm 3 arranged on the supporting arm 2, a surgery instrument with an instrument hand 4 is arranged on the sliding arm 3, a circular arc-shaped guide rail I5 is arranged on one side of the supporting arm 2, a sliding block 6 is arranged on the sliding arm 3, a driving component I for driving the sliding block 6 to slide along the guide rail I5 is arranged between the supporting arm 2 and the sliding arm 3, and the instrument hand 4 always extends along the radial direction of the guide rail I5 in the process of moving the sliding arm 3 along the guide rail I5.
As shown in fig. 2 and 3, the support arm 2 is arc-shaped, the central axis of the arc section formed by the support arm 2 is coaxial with the central axis of the arc section formed by the guide rail one 5, the instrument hand 4 intersects with the central axis of the arc section formed by the guide rail one 5 to form a telecentric point, and the instrument hand 4 swings around the telecentric point as a circle center in the process that the sliding arm 3 moves along the guide rail one 5.
As shown in fig. 2, the first driving component comprises an arc-shaped rack 7 arranged on the inner ring surface of the supporting arm 2, a first driving motor 8 fixed on the sliding arm 3, a first speed reducer 9 in transmission connection with the first driving motor 8 and a first gear arranged on the output shaft of the first speed reducer 9, the first gear is meshed with the arc-shaped rack 7, and the central axis of the arc section formed by the arc-shaped rack 7 is coaxial with the central axis of the arc section formed by the guide rail 5.
As shown in fig. 2, a connecting arm 10 is arranged on the support body 1, a circular arc-shaped guide rail II 11 is arranged on one side of the connecting arm 10, a circular arc-shaped guide groove II matched with the guide rail II 11 is arranged on the opposite side of the support arm 2 to the guide rail I5, the central axis of a circular arc section formed by the circular arc-shaped guide groove II is coaxial with the central axis of a circular arc section formed by the guide rail II 11, the support arm 2 is in sliding fit with the guide rail II 11 through the circular arc-shaped guide groove II, and a driving component II for driving the support arm 2 to slide along the guide rail II 11 is arranged between the support arm 2 and the connecting arm 10.
As shown in fig. 2, the support arm 2 is arc-shaped, and the second driving component comprises an arc-shaped rack 12 arranged on the outer ring surface of the support arm 2, a second speed reducer 13 fixed on the connecting arm 10 and driven by the second driving motor, and a second gear 14 arranged on the output shaft of the second speed reducer 13, wherein the second gear 14 is meshed with the arc-shaped rack 12, and the central axis of the arc section formed by the arc-shaped rack 12 is coaxial with the central axis of the arc section formed by the first guide rail 5.
As shown in fig. 1 and 2, a fixing arm 15 is arranged on the support body 1, a circular arc-shaped guide rail III 16 is arranged on one side of the fixing arm 15, a circular arc-shaped guide groove III matched with the guide rail III 16 is arranged on the opposite side of the connecting arm 10 to the guide rail II 11, the central axis of a circular arc section formed by the circular arc-shaped guide groove III is coaxial with the central axis of a circular arc section formed by the guide rail II 11, the central axis of the circular arc section formed by the circular arc-shaped guide groove III is coaxial with the central axis of the circular arc section formed by the guide rail III 16, the connecting arm 10 is in sliding fit with the guide rail III 16 through the circular arc-shaped guide groove III, and a driving component III for driving the connecting arm 10 to slide along the guide rail III 16 is arranged between the connecting arm 10 and the fixing arm 15.
As shown in fig. 2, the fixed arm 15 is arc-shaped, the driving assembly three comprises an arc-shaped rack three 17 arranged on the outer ring surface of the connecting arm 10, a speed reducer three 18 fixed on the fixed arm 15 and driven by a driving motor three, and a gear three 19 arranged on the output shaft of the speed reducer three 18, wherein the gear three 19 is meshed with the arc-shaped rack three 17, and the central axis of an arc section formed by the arc-shaped rack three 17 is coaxial with the central axis of an arc section formed by the guide rail two 11.
As shown in fig. 1-3, a roll motor 20 is fixed on the support body 1, a fixed arm 15 is in transmission connection with the support body 1 through the roll motor 20, a central axis of the roll motor 20 is intersected with a telecentric point, and the fixed arm 15 is fixed on the roll motor 20. The specific fixing mode is that a connecting seat is arranged at the side part of the roll motor 20, the fixing arm 15 is fixed on the connecting seat, and then the output shaft of the roll motor 20 is fixedly connected with the supporting body 1.
As shown in fig. 1, the second reducer 13 is disposed at one end of the connecting arm 10 away from the support body 1; the third speed reducer 18 is arranged at one end of the fixed arm 15 away from the support body 1.
In the embodiment, two ends of a first guide rail 5 are respectively provided with a first limit part, and a sliding block 6 is slidably arranged on the first guide rail 5 between the two first limit parts; a first limiting component is arranged between the second circular arc-shaped guide groove and the second guide rail 11, and a second limiting component is arranged between the third circular arc-shaped guide groove and the third guide rail 16.
Specifically, the first limiting component comprises a first limiting protrusion arranged on the second guide rail 11 and a first limiting groove arranged in the second arc-shaped guide groove, the central axis of the arc section formed by the first limiting groove is coaxial with the central axis of the arc section formed by the second arc-shaped guide groove, and the first limiting protrusion extends into the first limiting groove. The first limiting groove is an arc-shaped groove with two closed ends, and when the first limiting protrusion is inserted into the first limiting groove, the first limiting groove is limited by the two closed ends of the first limiting groove, so that the second guide rail 11 is prevented from being separated from the second guide groove in the moving direction.
The second limiting component comprises a second limiting protrusion arranged on the third guide rail 16 and a second limiting groove arranged in the third circular arc guide groove, the central axis of the circular arc section formed by the second limiting groove is coaxial with the central axis of the circular arc section formed by the third circular arc guide groove, and the second limiting protrusion extends into the second limiting groove. The second limiting groove is an arc-shaped groove with two closed ends, and when the second limiting protrusion is inserted into the second limiting groove, the second limiting groove is limited by the two closed ends of the second limiting groove, so that the third guide rail 16 is prevented from being separated from the third guide groove in the moving direction.
When the driving motor III works, the gear III 19 is driven to rotate, so that the connecting arm 10 is controlled to stretch and retract along the guide rail III 16; when the driving motor II works, the gear II 14 is driven to rotate, so that the supporting arm 2 is controlled to stretch and retract along the guide rail II 11; when the driving motor I8 works, the gear I is driven to rotate, so that the sliding arm 3 is controlled to slide along the guide rail I5; the surgical instrument drives the instrument hand 4 to move axially.
The support arm 2 and the connecting arm 10 can independently work from a contracted state to an expanded state, the first driving motor 8, the second driving motor and the third driving motor can also be linked, the first driving motor 8 controls the sliding arm 3 to move to the limit position preferentially, then the second driving motor controls the support arm 2 to move to the limit position, finally the third driving motor controls the connecting arm 10 to move to the limit, and when the roll motor 20 works, the fixed arm 15, the connecting arm 10, the support arm 2 and the sliding arm 3 can be driven to synchronously move, and in the whole movement process, the instrument hand 4 always points to the telecentric point.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (9)
1. The active arm of the minimally invasive surgery robot comprises a support body (1), a support arm (2) arranged on the support body (1) and a sliding arm (3) arranged on the support arm (2), wherein the sliding arm (3) is provided with a surgical instrument with an instrument hand (4), and the minimally invasive surgery robot is characterized in that one side of the support arm (2) is provided with a circular arc-shaped guide rail I (5), the sliding arm (3) is provided with a sliding block (6), a driving component I for driving the sliding block (6) to slide along the guide rail I (5) is arranged between the support arm (2) and the sliding arm (3), and the instrument hand (4) always extends along the radial direction of the guide rail I (5) in the process of moving the sliding arm (3) along the guide rail I (5); the support body (1) is provided with a connecting arm (10), one side of the connecting arm (10) is convexly provided with a second arc-shaped guide rail (11), the second guide rail (11) is arranged along the extending direction of the connecting arm (10), the support arm (2) is provided with a second arc-shaped guide groove matched with the second guide rail (11) at the opposite side of the first guide rail (5), and the support arm (2) is in sliding fit on the second guide rail (11) through the second arc-shaped guide groove; the protruding direction of the second guide rail (11) is perpendicular to the extending direction of the instrument hand (4); a second driving component used for driving the support arm (2) to slide along the second guide rail (11) is arranged between the support arm (2) and the connecting arm (10); the support body (1) is provided with a fixing arm (15), one side of the fixing arm (15) is provided with a circular arc guide rail III (16), the opposite side of the connecting arm (10) to the guide rail II (11) is provided with a circular arc guide groove III matched with the guide rail III (16), the central axis of a circular arc section formed by the circular arc guide groove III is coaxial with the central axis of a circular arc section formed by the guide rail II (11), the central axis of the circular arc section formed by the circular arc guide groove III is coaxial with the central axis of the circular arc section formed by the guide rail III (16), the connecting arm (10) is in sliding fit with the guide rail III (16) through the circular arc guide groove III, and a driving component III for driving the connecting arm (10) to slide along the guide rail III (16) is arranged between the connecting arm (10) and the fixing arm (15); two ends of the first guide rail (5) are respectively provided with a first limiting part, and the sliding block (6) is arranged on the first guide rail (5) between the two first limiting parts in a sliding way; a first limiting component is arranged between the second circular arc-shaped guide groove and the second guide rail (11), and a second limiting component is arranged between the third circular arc-shaped guide groove and the third guide rail (16); the first limiting component comprises a first limiting protrusion arranged on the second guide rail (11) and a first limiting groove arranged in the second circular arc-shaped guide groove, the central axis of a circular arc section formed by the first limiting groove is coaxial with the central axis of a circular arc section formed by the second circular arc-shaped guide groove, and the first limiting protrusion extends into the first limiting groove; the first limiting groove is an arc-shaped groove with two closed ends.
2. The robot actuating arm according to claim 1, wherein the support arm (2) is arc-shaped, the central axis of the arc section formed by the support arm (2) is coaxial with the central axis of the arc section formed by the first guide rail (5), the instrument hand (4) intersects with the central axis of the arc section formed by the first guide rail (5) to form a telecentric point, and the instrument hand (4) swings around the telecentric point as a center of a circle in the process of moving the sliding arm (3) along the first guide rail (5).
3. The driving arm of the minimally invasive surgery robot according to claim 2, wherein the driving assembly comprises an arc-shaped rack I (7) arranged on the inner ring surface of the supporting arm (2), a driving motor I (8) fixed on the sliding arm (3), a speed reducer I (9) in transmission connection with the driving motor I (8) and a gear I arranged on an output shaft of the speed reducer I (9), the gear I is meshed with the arc-shaped rack I (7), and a central axis of an arc section formed by the arc-shaped rack I (7) is coaxial with a central axis of an arc section formed by the guide rail I (5).
4. The driving arm of the minimally invasive surgery robot according to claim 2, wherein the central axis of the arc section formed by the second circular arc-shaped guide groove is coaxial with the central axis of the arc section formed by the first guide rail (5), and the central axis of the arc section formed by the second circular arc-shaped guide groove is coaxial with the central axis of the arc section formed by the second guide rail (11).
5. The driving arm of the minimally invasive surgery robot according to claim 4, wherein the supporting arm (2) is arc-shaped, the driving assembly II comprises an arc-shaped rack II (12) arranged on the outer annular surface of the supporting arm (2), a speed reducer II (13) fixed on the connecting arm (10) and driven by a driving motor II, and a gear II (14) arranged on an output shaft of the speed reducer II (13), the gear II (14) is meshed with the arc-shaped rack II (12), and a central axis of an arc section formed by the arc-shaped rack II (12) is coaxial with a central axis of an arc section formed by the guide rail I (5).
6. The driving arm of the minimally invasive surgery robot according to claim 1, wherein the fixing arm (15) is arc-shaped, the driving assembly three comprises an arc-shaped rack three (17) arranged on the outer annular surface of the connecting arm (10), a speed reducer three (18) fixed on the fixing arm (15) and driven by a driving motor three, and a gear three (19) arranged on an output shaft of the speed reducer three (18), the gear three (19) is meshed with the arc-shaped rack three (17), and a central axis of a circular arc section formed by the arc-shaped rack three (17) is coaxial with a central axis of a circular arc section formed by the guide rail two (11).
7. The minimally invasive surgical robot driving arm according to claim 1, wherein the support body (1) is fixed with a roll motor (20), the fixing arm (15) is in transmission connection with the support body (1) through the roll motor (20), the central axis of the roll motor (20) is intersected with the telecentric point, and the fixing arm (15) is fixed on the roll motor (20).
8. The driving arm of the minimally invasive surgical robot according to claim 5, wherein the second decelerator (13) is disposed at an end of the connecting arm (10) far away from the supporting body (1).
9. The driving arm of the minimally invasive surgical robot according to claim 6, wherein the third decelerator (18) is disposed at an end of the fixed arm (15) away from the support body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711129178.6A CN108042208B (en) | 2017-11-15 | 2017-11-15 | Active arm of minimally invasive surgery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711129178.6A CN108042208B (en) | 2017-11-15 | 2017-11-15 | Active arm of minimally invasive surgery robot |
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| Publication Number | Publication Date |
|---|---|
| CN108042208A CN108042208A (en) | 2018-05-18 |
| CN108042208B true CN108042208B (en) | 2024-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711129178.6A Active CN108042208B (en) | 2017-11-15 | 2017-11-15 | Active arm of minimally invasive surgery robot |
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| CN109091232A (en) * | 2018-07-19 | 2018-12-28 | 上海交通大学 | A kind of robot system for hysteroscope Minimally Invasive Surgery |
| JP2022547715A (en) * | 2019-09-14 | 2022-11-15 | リボルブ サージカル インク． | Direct-controlled and robot-assisted hybrid surgical system |
| CN110680505B (en) * | 2019-09-20 | 2024-05-17 | 中国地质大学（武汉） | Eight-degree-of-freedom surgical mechanical arm with closed-loop connecting rod |
| CN110815251B (en) * | 2019-11-28 | 2021-06-04 | 台州风达机器人科技有限公司 | Robot connecting seat capable of sliding and accommodating in arc |
| CN113399990A (en) * | 2021-06-08 | 2021-09-17 | 遨博（江苏）机器人有限公司 | Tightening unit, tightening mechanism and tightening method |
| CN113813048B (en) * | 2021-10-12 | 2023-05-12 | 中南大学 | Four-degree-of-freedom remote movement center mechanism of surgical robot |
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| CN108042208A (en) | 2018-05-18 |
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