CN108245253A - A kind of medical robot special-purpose machinery arm - Google Patents
A kind of medical robot special-purpose machinery arm Download PDFInfo
- Publication number
- CN108245253A CN108245253A CN201810019224.5A CN201810019224A CN108245253A CN 108245253 A CN108245253 A CN 108245253A CN 201810019224 A CN201810019224 A CN 201810019224A CN 108245253 A CN108245253 A CN 108245253A
- Authority
- CN
- China
- Prior art keywords
- frame
- motor
- medical robot
- rotating bar
- purpose machinery
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Mechanical Engineering (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
It is disclosed by the invention to belong to the field of medical instrument technology,Specially a kind of medical robot special-purpose machinery arm,Including pedestal,The bottom four corners of the pedestal are both provided with movable pulley,The top center position of the pedestal is provided with the first frame that Open Side Down,The intracavity bottom of first frame is provided with the first motor,The top power output end of first motor is equipped with first shaft coupling,Output terminal at the top of the first shaft coupling is equipped with rotating bar,The top center position of first frame is equipped with bearing block,Large arm is fixedly connected at the top of the rotating bar,The bottom left of the large arm is provided with the second frame of opening upwards,A kind of medical robot special-purpose machinery arm that the invention proposes,Pass through the first motor,Second motor,The mutual cooperation of cylinder and electric telescopic rod,Realize the position that manipulator can reach different,It is easy to use,It is and simple in structure,Flexibility ratio is high,Meet and use needs.
Description
Technical field
The present invention relates to the field of medical instrument technology, specially a kind of medical robot special-purpose machinery arm.
Background technology
Medical robot technology be collection medicine, biomethanics, mechanics, Mechanics of Machinery, materialogy, computer graphics,
The novel crossed research field that the subjects such as computer vision, mathematical analysis, robot are integrated has important research valency
Value, has a wide range of applications on dual-use, is the research hotspot of current robot field.Medical robot
It is mainly used for operation, rescue, transhipment and the rehabilitation of the sick and wounded.Mechanical arm is the important composition component on medical robot, existing
The design of medical robot special-purpose machinery arm configuration it is unreasonable, movement angle is not easy to adjust, and activity space have it is certain
Limitation can not meet using needs, for this purpose, it is proposed that a kind of medical robot special-purpose machinery arm.
Invention content
The purpose of the present invention is to provide a kind of medical robot special-purpose machinery arm, to solve to propose in above-mentioned background technology
Existing medical robot special-purpose machinery arm configuration design it is unreasonable, movement angle is not easy to adjust, and activity space has
Certain limitation, can not meet the problem of use needs.
To achieve the above object, the present invention provides following technical solution：A kind of medical robot special-purpose machinery arm, the bottom of including
Seat, the bottom four corners of the pedestal are both provided with movable pulley, the top center position of the pedestal be provided with that Open Side Down the
One frame, the intracavity bottom of first frame are provided with the first motor, the top power output end installation of first motor
There is a first shaft coupling, the output terminal at the top of the first shaft coupling is equipped with rotating bar, the center of top position of first frame
It puts and bearing block is installed, the top of the rotating bar is connected to the inner cavity of bearing block, the top of the rotating bar through the first frame
Portion is fixedly connected with large arm, and the bottom left of the large arm is provided with the second frame of opening upwards, the bottom of second frame
Portion is provided with the second motor, and the intracavity bottom of second frame is provided with second shaft coupling, and the top of second motor is moved
The bottom of power output terminal and second shaft coupling connects, and the top output port of the second shaft coupling is equipped with shaft, the shaft
Top be connected with forearm through large arm, the left pivot movement of the forearm is equipped with rotating bar, the bottom setting of the rotating bar
There is installing plate, light compensating lamp is mounted at left and right sides of the installing plate, the lower center position of the installing plate is provided with gas
Cylinder, the bottom left and right sides of the installing plate are symmetrically arranged with camera, and the bottom power output end installation of the cylinder is organic
Machinery claw, the bottom left of the forearm are hinged with electric telescopic rod, bottom power output end and the installation of the electric telescopic rod
The top of plate is hinged.
Preferably, the movable pulley be universal wheel, and in movable pulley described in four groups at least two groups locking mechanism is installed.
Preferably, the right hand top of the pedestal is provided with pushing hands.
Preferably, the bottom right of the forearm is provided with two groups of ball races, and two groups of ball races are located at the two of shaft respectively
Side, the inner cavity of the ball race are inlaid with ball wheel, are provided at the top of the large arm and the matched rolling groove of ball wheel.
Preferably, the bottom of the electric telescopic rod is obliquely installed towards lower left.
Compared with prior art, the beneficial effects of the invention are as follows：A kind of medical robot special-purpose machinery that the invention proposes
Arm, by the mutual cooperation of the first motor, the second motor, cylinder and electric telescopic rod, realizing manipulator can reach different
Position, easy to use and simple in structure, flexibility ratio is high, meets and uses needs.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is large arm of the present invention and forearm attachment structure schematic diagram.
In figure：1 pedestal, 2 movable pulleys, 3 pushing hands, 4 first frames, 5 first motors, 6 first shaft couplings, 7 rotating bars, 8 axis
Bearing, 9 large arm, 91 rolling grooves, 10 second frames, 11 second shaft couplings, 12 second motors, 13 shafts, 14 forearms, 141 ball wheels
Slot, 142 ball wheels, 15 rotating bars, 16 installing plates, 17 electric telescopic rods, 18 light compensating lamps, 19 cameras, 20 cylinders, 21 grippers.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
- 2 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of medical robot special-purpose machinery arm, including pedestal
1, the bottom four corners of the pedestal 1 are both provided with movable pulley 2, and the top center position of the pedestal 1 is provided with what Open Side Down
First frame 4, the intracavity bottom of first frame 4 are provided with the first motor 5, the top power output of first motor 5
End is equipped with first shaft coupling 6, and the output terminal at 6 top of first shaft coupling is equipped with rotating bar 7, first frame 4
Top center position is equipped with bearing block 8, and the top of the rotating bar 7 is connected to the inner cavity of bearing block 8 through the first frame 4,
The top of the rotating bar 7 is fixedly connected with large arm 9, and the bottom left of the large arm 9 is provided with the second frame of opening upwards
10, the bottom of second frame 10 is provided with the second motor 12, and the intracavity bottom of second frame 10 is provided with second
Axis device 11, the top power output end of second motor 12 are connect with the bottom of second shaft coupling 11, the second shaft coupling
11 top output port is equipped with shaft 13, and the top of the shaft 13 is connected with forearm 14 through large arm 9, the forearm 14
Left pivot movement is equipped with rotating bar 15, and the bottom of the rotating bar 15 is provided with installing plate 16, the left and right two of the installing plate 16
Side is mounted on light compensating lamp 18, and the lower center position of the installing plate 16 is provided with cylinder 20, the bottom of the installing plate 16
The left and right sides is symmetrically arranged with camera 19, and the bottom power output end of the cylinder 20 is equipped with gripper 21, the forearm
14 bottom left is hinged with electric telescopic rod 17, the bottom power output end of the electric telescopic rod 17 and the top of installing plate 16
Portion is hinged.
Wherein, the movable pulley 2 be universal wheel, and in movable pulley 2 described in four groups at least two groups locking mechanism is installed,
Convenient for the movement and positioning to the mechanical arm, the right hand top of the pedestal 1 is provided with pushing hands 3, the bottom, right of the forearm 14
Side is provided with two groups of ball races 141, and two groups of ball races 141 are located at the both sides of shaft 13, the inner cavity edge of the ball race 141 respectively
Embedded with ball wheel 142, the top of the large arm 9 is provided with and 142 matched rolling groove 91 of ball wheel, the bottom of the electric telescopic rod 17
Portion is obliquely installed towards lower left.
Operation principle：Being moved to the mechanical arm by pushing hands 3 and movable pulley 2 needs position to be used, when in use, leads to
Crossing the first motor 5 can drive large arm 9 to rotate, and forearm 14 can be driven to rotate by the second motor 12, can by cylinder 20
It realizes the lifting of gripper 21, and by the flexible of electric telescopic rod 17, can realize that gripper 21 swings different angles, completely
For foot using needing, which realizes that gripper 21 can be adjusted in the distance and angle of all directions, and light compensating lamp 18 and be taken the photograph
As first 19 setting, convenient for the acquisition of image.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of medical robot special-purpose machinery arm, including pedestal (1), it is characterised in that：The bottom four corners of the pedestal (1) are equal
It is provided with movable pulley (2), the top center position of the pedestal (1) is provided with the first frame (4) that Open Side Down, and described first
The intracavity bottom of frame (4) is provided with the first motor (5), and the top power output end of first motor (5) is equipped with first
Shaft coupling (6), the output terminal at the top of the first shaft coupling (6) are equipped with rotating bar (7), the top of first frame (4)
Middle position is equipped with bearing block (8), and the top of the rotating bar (7) is connected to the interior of bearing block (8) through the first frame (4)
Chamber is fixedly connected with large arm (9) at the top of the rotating bar (7), and the bottom left of the large arm (9) is provided with opening upwards
Second frame (10), the bottom of second frame (10) are provided with the second motor (12), the inner cavity of second frame (10)
Bottom is provided with second shaft coupling (11), the top power output end of second motor (12) and the bottom of second shaft coupling (11)
Portion connects, and the top output port of the second shaft coupling (11) is equipped with shaft (13), and the top of the shaft (13) is through big
Arm (9) is connected with forearm (14), and the left pivot movement of the forearm (14) is equipped with rotating bar (15), the bottom of the rotating bar (15)
Portion is provided with installing plate (16), and light compensating lamp (18), the installing plate (16) are mounted at left and right sides of the installing plate (16)
Lower center position be provided with cylinder (20), be symmetrically arranged with camera at left and right sides of the bottom of the installing plate (16)
(19), the bottom power output end of the cylinder (20) is equipped with gripper (21), and the bottom left of the forearm (14) is hinged
There is electric telescopic rod (17), the bottom power output end of the electric telescopic rod (17) and the top of installing plate (16) are hinged.
2. a kind of medical robot special-purpose machinery arm according to claim 1, it is characterised in that：The movable pulley (2) is
Universal wheel, and in movable pulley (2) described in four groups at least two groups locking mechanism is installed.
3. a kind of medical robot special-purpose machinery arm according to claim 1, it is characterised in that：The right side of the pedestal (1)
Side roof part is provided with pushing hands (3).
4. a kind of medical robot special-purpose machinery arm according to claim 1, it is characterised in that：The bottom of the forearm (14)
Two groups of ball races (141) are provided on the right side of portion, and two groups of ball races (141) are located at the both sides of shaft (13), the ball race respectively
(141) inner cavity is inlaid with ball wheel (142), is provided at the top of the large arm (9) and ball wheel (142) matched rolling groove
(91)。
5. a kind of medical robot special-purpose machinery arm according to claim 1, it is characterised in that：The electric telescopic rod
(17) bottom is obliquely installed towards lower left.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810019224.5A CN108245253A (en) | 2018-01-09 | 2018-01-09 | A kind of medical robot special-purpose machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810019224.5A CN108245253A (en) | 2018-01-09 | 2018-01-09 | A kind of medical robot special-purpose machinery arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108245253A true CN108245253A (en) | 2018-07-06 |
Family
ID=62725703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810019224.5A Pending CN108245253A (en) | 2018-01-09 | 2018-01-09 | A kind of medical robot special-purpose machinery arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108245253A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109452998A (en) * | 2018-10-29 | 2019-03-12 | 刘文杰 | Needle device is held in a kind of operation of clinical ophthalmology |
| JP2020065910A (en) * | 2019-05-10 | 2020-04-30 | 株式会社Ａ−Ｔｒａｃｔｉｏｎ | Surgery assistance apparatus |
| CN112618021A (en) * | 2020-12-23 | 2021-04-09 | 孙梦琪 | Medical mechanical auxiliary arm for sickbed knife opening |
| CN113458782A (en) * | 2021-07-19 | 2021-10-01 | 杭州罗莱迪思科技股份有限公司 | Automatic assembly line for line lamps |
| US11622822B2 (en) | 2018-10-23 | 2023-04-11 | A-Traction Inc. | Surgery supporting apparatus for controlling motion of robot arm, control method of the same, and non-transitory computer-readable storage medium |
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| US20080150754A1 (en) * | 2006-05-12 | 2008-06-26 | Carl Zeiss Surgical Gmbh | Remote control system for medical apparatus |
| CN101357075A (en) * | 2007-07-31 | 2009-02-04 | 机械科学研究总院先进制造技术研究中心 | Micro-wound operation robot based on endoscopic |
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| CN102458295A (en) * | 2009-05-22 | 2012-05-16 | 加泰罗尼亚理工大学 | Robotic system for laparoscopic surgery |
| CN106264753A (en) * | 2016-10-12 | 2017-01-04 | 广州市中潭空气净化科技有限公司 | A kind of neurosurgery operating microscope |
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| CN107157582A (en) * | 2017-04-25 | 2017-09-15 | 山东科技大学 | A kind of surgery of nasal cavity auxiliary Chi Jing robots |
| CN107440799A (en) * | 2016-11-01 | 2017-12-08 | 香港生物医学工程有限公司 | For performing the surgery system through natural cavity ESS |
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20080150754A1 (en) * | 2006-05-12 | 2008-06-26 | Carl Zeiss Surgical Gmbh | Remote control system for medical apparatus |
| CN101357075A (en) * | 2007-07-31 | 2009-02-04 | 机械科学研究总院先进制造技术研究中心 | Micro-wound operation robot based on endoscopic |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11622822B2 (en) | 2018-10-23 | 2023-04-11 | A-Traction Inc. | Surgery supporting apparatus for controlling motion of robot arm, control method of the same, and non-transitory computer-readable storage medium |
| CN109452998A (en) * | 2018-10-29 | 2019-03-12 | 刘文杰 | Needle device is held in a kind of operation of clinical ophthalmology |
| JP2020065910A (en) * | 2019-05-10 | 2020-04-30 | 株式会社Ａ−Ｔｒａｃｔｉｏｎ | Surgery assistance apparatus |
| CN112618021A (en) * | 2020-12-23 | 2021-04-09 | 孙梦琪 | Medical mechanical auxiliary arm for sickbed knife opening |
| CN113458782A (en) * | 2021-07-19 | 2021-10-01 | 杭州罗莱迪思科技股份有限公司 | Automatic assembly line for line lamps |
| CN113458782B (en) * | 2021-07-19 | 2022-12-02 | 杭州罗莱迪思科技股份有限公司 | Automatic assembly line for line lamps |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180706 |
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| RJ01 | Rejection of invention patent application after publication |