CN108266496A - A kind of three planet carriers, ten tooth the second planet carrier secondary planet train formula RCM mechanisms - Google Patents
A kind of three planet carriers, ten tooth the second planet carrier secondary planet train formula RCM mechanisms Download PDFInfo
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- CN108266496A CN108266496A CN201711293027.4A CN201711293027A CN108266496A CN 108266496 A CN108266496 A CN 108266496A CN 201711293027 A CN201711293027 A CN 201711293027A CN 108266496 A CN108266496 A CN 108266496A
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- gear
- fixed
- planet
- planet carrier
- scalpel
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- 230000007246 mechanism Effects 0.000 title claims abstract description 19
- 239000000969 carrier Substances 0.000 title claims abstract description 6
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 33
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 13
- 238000001356 surgical procedure Methods 0.000 abstract description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B2017/320052—Guides for cutting instruments
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Engineering & Computer Science (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)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of three planet carriers, ten tooth the second planet carrier secondary planet train formula RCM mechanisms.RCM mechanisms are widely used in Minimally Invasive Surgery, which can help doctor to smoothly complete the operation of scalpel in Minimally Invasive Surgery.The rotary electric machine of the present invention makes the rotation in one direction of rotating bar realization；Input motor drive link, and each gear drive on through connecting rod, first planet carrier and the second planet carrier so that sleeve realizes the rotation in a direction；Scalpel motor driving scalpel realizes the rotation in a direction, and the control of rope motor is nested in the movement on one direction of scalpel realization in sleeve.The accurate rotation for realizing scalpel on three directions of virtual center point progress of the invention, and realize that scalpel is moved on the axis for crossing virtual center point, so as to which surgery location point be accurately positioned in Minimally Invasive Surgery.
Description
Technical field
The invention belongs to medical machinery fields, are related to Minimally Invasive Surgery machinery, and in particular to a kind of end effector is around space
The plane train RCM mechanisms that some interior fixed virtual center point rotates.
Background technology
With the fast development of science and technology, Minimally Invasive Surgery reaches its maturity and is greatly welcome, compared to traditional hand
The features such as art Minimally Invasive Surgery is wound small, pain is light, it is fast to restore, the hospital stays is short, bleeding is few, reduces traditional operation to human body
Harm, either physiologically or psychological patients are more prone to Minimally Invasive Surgery.
Due to the limitation of notch with patient, Minimally Invasive Surgery operating space is limited, and the both hands for depending doctor alone are difficult directly complete
Typically now all it is to be completed by means of Minimally Invasive Surgery machinery, RCM mechanisms are made extensively in Minimally Invasive Surgery machinery into operation
With.The characteristics such as the degree of freedom of RCM mechanisms, the position of virtual center point, working space size directly affect Minimally Invasive Surgery machinery
Working performance, it is seen that the importance of RCM mechanisms.
Invention content
The purpose of the present invention is the requirements according to Minimally Invasive Surgery medical instrument, provide a kind of plane train formula RCM mechanisms.
In order to achieve the above object, the technical solution adopted by the present invention is：
The present invention includes rack, rotary electric machine, rotating bar, scalpel motor, spring, rope, rope motor, sleeve, cunning
Road, scalpel, intermediate transmission train and input motor；The rotary electric machine is fixed in rack；One end of rotating bar is with turning
The output shaft of dynamic motor is fixed, and input motor is fixed on the other end of rotating bar；The output shaft of rotary electric machine is horizontally disposed with, and defeated
The output shaft axis of output shaft axis and rotary electric machine for entering motor is vertically arranged.
The intermediate transmission train includes the first transmission gear, counter drive shaft, central gear, central shaft, the second transmission
Gear, connecting rod, fixed gear, main shaft, the first sun gear, first planet carrier, the first jackshaft, the first intermediate gear, the
One planetary gear, the second sun gear, the first planet axis, the second planet carrier, the second jackshaft, the second intermediate gear, the second planet
Gear and the second planet axis；The main shaft is fixed with inputting the output shaft of motor；The fixation gear empty set is in master
On transmission shaft, and fixed with rotating bar；Main shaft both ends are fixed respectively with connecting rod one end and the first sun gear, and counter drive shaft leads to
It crosses bearing and is supported on the connecting rod other end；First transmission gear and the second transmission gear are fixed on counter drive shaft both ends；Second transmission
Gear is engaged with fixed gear；Central shaft is supported on by bearing in main shaft；The central gear is fixed with central shaft,
And it is engaged with the first transmission gear；One end of first planet carrier is fixed with central shaft；First jackshaft is fixed on first planet carrier
Middle part, the first planet axis are supported on the first planet carrier other end by bearing；First intermediate gear is supported by bearing
It is engaged on the first jackshaft, and with the first sun gear；First planetary gear is fixed in the first planet axis, and with
One intermediate gear engages；Second sun gear is fixed on the first planet carrier other end；One end of second planet carrier and the first planet axis
Fixed, the second jackshaft is fixed in the middle part of the second planet carrier, and the second planet axis is fixed on the second planet carrier other end；Described
Two intermediate gears are supported on by bearing on the second jackshaft, and are engaged with the second sun gear；Second planetary gear leads to
It crosses bearing to be supported in the second planet axis, and is engaged with the second intermediate gear.It is planetary total that fast pulley power reaches second
Gearratio is 1, and second sun gear, the second intermediate gear and the second planetary gear are non-circular gear, and rotary electric machine stops
Only under state, the movement locus of the second planetary gear rotation center is arc section.
The side of the sleeve is fixed with the second planetary gear；The slideway forms sliding pair with sleeve；Scalpel is embedding
It is sleeved in slideway, the top of scalpel and the output shaft of scalpel motor are fixed；The scalpel motor is fixed on slideway；
The output shaft of scalpel motor intersects with the output shaft axis of rotary electric machine, and the output shaft axis of scalpel motor and input electricity
The output shaft axis of machine is vertical；Spring is set between sleeve and slideway, and rope motor is fixed on sleeve；Rope one end is fixed on
On slideway, the other end is fixed on the output shaft of rope motor.
The slideway is nested in sleeve.
The spring is nested on slideway, and both ends of the spring is limited respectively by the top surface of the flange on slideway top and sleeve,
The spring is compressed spring.
The beneficial effects of the invention are as follows：
1. the present invention solves the problems, such as that 3 planet carrier train formula plane RCM mechanisms are applied to medical instrument.It is of the invention accurate
It realizes that scalpel is moved around a virtual center point, and realizes that scalpel is moved on the axis for crossing virtual center point,
Scalpel can be made to be moved around the affected part that needs are had an operation, improve the precision that operation is cut, while can realize scalpel
It cuts from different angles, it is easy to operate, scalpel can be made to be withdrawn into safe range with motor at the end of operation, can be to improve
The success rate of operation contributes.
2. the execution end of the present invention is thinner, package scalpel is sleeve, and the visual field of medical staff is preferable during operation.This hair
Bright connecting rod and first planet carrier is short and small, and the size of sleeve mechanism in the vertical direction is small, and size in the horizontal direction is big, ensures
Scalpel from stent farther out, so as to increase the working space of medical staff.
3. the present invention is using the RCM mechanisms of train formula, stable drive is reliable, and movement is gentle.The gear of the mechanism is equal
For plane gear, easy to process and cost substantially reduces, more suitable for production practices.
Description of the drawings
Fig. 1 is the intermediate transmission wheel train structure schematic diagram of the present invention.
Fig. 2 is the overall structure stereogram of the present invention.
Fig. 3 is the gear engagement states figure on connecting rod in the present invention.
Fig. 4 is the gear engagement states figure in first planet carrier in the present invention.
Fig. 5 is the gear engagement states figure on the second planet carrier in the present invention.
In figure：1st, the first transmission gear, 2, counter drive shaft, 3, central gear, 4, central shaft, the 5, second transmission gear, 6,
Connecting rod, 7, fixed gear, 8, main shaft, the 9, first sun gear, 10, first planet carrier, the 11, first jackshaft, in 12, first
Between gear, the 13, first planetary gear, the 14, second sun gear, the 15, first planet axis, the 16, second planet carrier, among 17, second
Axis, the 18, second intermediate gear, the 19, second planetary gear, the 20, second planet axis, 21, rack, 22, rotary electric machine, 23, rotation
Bar, 24, scalpel motor, 25, spring, 26, rope, 27, rope motor, 28, sleeve, 29, slideway, 30, scalpel.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in Fig. 1,2,3,4 and 5, a kind of three planet carriers, ten tooth the second planet carrier secondary planet train formula RCM mechanisms, packet
Including rack 21, rotating bar 23, scalpel motor 24, spring 25, rope 26, rope motor 27, sleeve 28, is slided rotary electric machine 22
Road 29, scalpel 30, intermediate transmission train and input motor；Rotary electric machine 22 is fixed in rack 21；One end of rotating bar 23
It is fixed with the output shaft of rotary electric machine 22, input motor is fixed on the other end of rotating bar 23；The output shaft water of rotary electric machine 22
Flat setting, and the output shaft axis of input motor and the output shaft axis of rotary electric machine 22 are vertically arranged.
Intermediate transmission train includes the first transmission gear 1, counter drive shaft 2, central gear 3, central shaft 4, the second driving cog
Wheel 5, connecting rod 6, fixed gear 7, main shaft 8, the first sun gear 9, first planet carrier 10, among the first jackshaft 11, first
Gear 12, the first planetary gear 13, the second sun gear 14, the first planet axis 15, the second planet carrier 16, the second jackshaft 17,
Two intermediate gears 18, the second planetary gear 19 and the second planet axis 20；Main shaft 8 is fixed with inputting the output shaft of motor；Gu
7 empty set of fixed gear is fixed on main shaft 8, and with rotating bar 23；8 both ends of main shaft respectively with 6 one end of connecting rod and first
Sun gear 9 is fixed, and counter drive shaft 2 is supported on 6 other end of connecting rod by bearing；First transmission gear 1 and the second transmission gear 5 are solid
It is scheduled on 2 both ends of counter drive shaft；Second transmission gear 5 is engaged with fixed gear 7；Central shaft 4 is supported on main shaft 8 by bearing
Interior (main shaft 8 is hollow shaft)；Central gear 3 is fixed with central shaft 4, and is engaged with the first transmission gear 1；First planet carrier
10 one end is fixed with central shaft 4；First jackshaft 11 is fixed on 10 middle part of first planet carrier, and the first planet axis 15 passes through bearing
It is supported on 10 other end of first planet carrier；First intermediate gear 12 is supported on by bearing on the first jackshaft 11, and with first
Sun gear 9 engages；First planetary gear 13 is fixed in the first planet axis 15, and is engaged with the first intermediate gear 12；Second too
Sun wheel 14 is fixed on 10 other end of first planet carrier；One end of second planet carrier 16 is fixed with the first planet axis 15, among second
Axis 17 is fixed on 16 middle part of the second planet carrier, and the second planet axis 20 is fixed on 16 other end of the second planet carrier；Second intermediate gear
18 are supported on by bearing on the second jackshaft 17, and are engaged with the second sun gear 14；Second planetary gear 19 passes through bearing branch
It holds in the second planet axis 20, and is engaged with the second intermediate gear 18.
The side of sleeve 28 is fixed with the second planetary gear 19 by dental inlay；Slideway 29 is nested in sleeve 28, and with set
Cylinder forms sliding pair；Scalpel 30 is nested in slideway 29, and the top of scalpel 30 and the output shaft of scalpel motor 24 are fixed；
Scalpel motor 24 is fixed on slideway 29, driving scalpel rotation；The output shaft of scalpel motor 24 and rotary electric machine 22
Output shaft axis intersects, and the output shaft axis of scalpel motor 24 is vertical with the output shaft axis for inputting motor；Sleeve 28 with
Spring 26 is set between slideway 29, and rope motor 27 is fixed on sleeve 28；26 one end of rope is fixed on slideway, and the other end is solid
It is scheduled on the output shaft of rope motor.The rotation of rope motor tenses rope, so as to compressed spring, realizes that the longitudinal direction of scalpel is moved
It is dynamic.
Three planet carriers, ten tooth the second planet carrier secondary planet train formula RCM mechanisms, operation principle are as follows：
Power is inputted by 4 motors.Rotary electric machine 22 can drive rotating bar 23 around one direction of x-axis rotation realization
Rotation；Input motor driving main shaft 8 rotates, and fast pulley 7 is fixed with rotating bar 23, and fast pulley 7 is nibbled with the second transmission gear 5
It closes；And main shaft 8 is fixed with connecting rod 6, and the second transmission gear 5 on counter drive shaft 2 is driven around fast pulley 7 by connecting rod 6
Rotation, the first transmission gear 1 and 3 engaged transmission of centre wheel, centre wheel 3 and central shaft 4 are fixed with first planet carrier 10 so that the
One planet carrier 10 relatively rotates bar 23 and makees plane motion, and main shaft 8 is fixed with the first sun gear 9, the first sun gear 9 and the
One intermediate gear 12 engages, and the first intermediate gear 12 is engaged with the first planetary gear 13 so that the first 13 opposite turns of planetary gear
Lever 23 makees plane motion；First planetary gear 13 and the second planet carrier 16 are fixed with the first planet axis 15 so that the second planet
Frame 16 relatively rotates bar 23 and makees plane motion；Second sun gear 14 is fixed with the first planet axis 15, and the second planetary gear 19 with
Sleeve 28 is fixed, and the second sun gear 14 is engaged with the second intermediate gear 18, and the second intermediate gear 18 is nibbled with the second planetary gear 19
It closes so that sleeve 28 rotates the rotation for realizing a direction around y-axis；Scalpel motor 24 drives scalpel 30 around z-axis reality
The rotation in an existing direction；The rope 26 that rope motor 27 is fixed on slideway 29 by folding and unfolding is nested in control in sleeve 28
Scalpel 30 realizes the movement in z-axis direction.The present invention will accurately realize that scalpel is carried out around virtual center point O on three directions
Rotation, and realize that scalpel is moved on the axis for crossing virtual center point O, it is also necessary to ensure 2 points following：(1) rotation electricity
Under 22 halted state of machine, by each gear engaged transmission on connecting rod 6 and first planet carrier 10, to ensure that the second planet carrier 16 is done
Translational motion in plane (does not rotate, need to only accomplish total biography of 7 to the second planetary gear of fast pulley, 19 entire transmission chain here
1) dynamic ratio is；(2) under the premise of the second planetary gear 19 does translational motion, pass through the second sun gear 14, the second intermediate gear
18 and second planetary gear 19 not rounded pitch curve come ensure the movement locus of the rotation center of the second planetary gear 19 be circular arc
Section.The rotation of the invention that scalpel is accurately realized on three directions of virtual center point O (center of circle of arc section) progress, and it is real
Existing scalpel is moved on the axis for crossing virtual center point O, so as to which surgery location point be accurately positioned in Minimally Invasive Surgery, and
Mechanism is simple, and design principle is simple, easy to implement in design and assembling, and gear engagement ensures movement accuracy.
Claims (3)
1. a kind of three planet carriers, ten tooth the second planet carrier secondary planet train formula RCM mechanisms, including rack, rotary electric machine, rotation
Bar, scalpel motor, spring, rope, rope motor, sleeve, slideway, scalpel and input motor, it is characterised in that：It further includes
Intermediate transmission train；The rotary electric machine is fixed in rack；One end of rotating bar and the output shaft of rotary electric machine are fixed, defeated
Enter the other end that motor is fixed on rotating bar；The output shaft of rotary electric machine is horizontally disposed with, and input motor output shaft axis with
The output shaft axis of rotary electric machine is vertically arranged；
The intermediate transmission train include the first transmission gear, counter drive shaft, central gear, central shaft, the second transmission gear,
Connecting rod, fixed gear, main shaft, the first sun gear, first planet carrier, the first jackshaft, the first intermediate gear, the first planet
Gear, the second sun gear, the first planet axis, the second planet carrier, the second jackshaft, the second intermediate gear, the second planetary gear and
Second planet axis；The main shaft is fixed with inputting the output shaft of motor；The fixation gear empty set is in main shaft
On, and fixed with rotating bar；Main shaft both ends are fixed respectively with connecting rod one end and the first sun gear, and counter drive shaft passes through bearing
It is supported on the connecting rod other end；First transmission gear and the second transmission gear are fixed on counter drive shaft both ends；Second transmission gear with
Fixed gear engagement；Central shaft is supported on by bearing in main shaft；The central gear is fixed with central shaft, and with
One transmission gear engages；One end of first planet carrier is fixed with central shaft；First jackshaft is fixed in the middle part of first planet carrier, the
One planet axis is supported on the first planet carrier other end by bearing；First intermediate gear is supported on by bearing in first
On countershaft, and engaged with the first sun gear；First planetary gear is fixed in the first planet axis, and with the first center tooth
Wheel engagement；Second sun gear is fixed on the first planet carrier other end；One end of second planet carrier is fixed with the first planet axis, and second
Jackshaft is fixed in the middle part of the second planet carrier, and the second planet axis is fixed on the second planet carrier other end；Second center tooth
Wheel is supported on by bearing on the second jackshaft, and engaged with the second sun gear；Second planetary gear passes through bearing branch
It holds in the second planet axis, and is engaged with the second intermediate gear；Fast pulley power reaches the second planetary resultant gear ratio
1, second sun gear, the second intermediate gear and the second planetary gear are non-circular gear, under rotary electric machine halted state,
The movement locus of second planetary gear rotation center is arc section；
The side of the sleeve is fixed with the second planetary gear；The slideway forms sliding pair with sleeve；Scalpel is nested in
In slideway, the top of scalpel and the output shaft of scalpel motor are fixed；The scalpel motor is fixed on slideway；Operation
The output shaft of knife motor intersects with the output shaft axis of rotary electric machine, and the output shaft axis of scalpel motor and input motor
Output shaft axis is vertical；Spring is set between sleeve and slideway, and rope motor is fixed on sleeve；Rope one end is fixed on slideway
On, the other end is fixed on the output shaft of rope motor.
2. ten tooth the second planet carrier secondary planet train formula RCM mechanisms of a kind of three planet carrier according to claim 1, special
Sign is：The slideway is nested in sleeve.
3. ten tooth the second planet carrier secondary planet train formula RCM mechanisms of a kind of three planet carrier according to claim 1, special
Sign is：The spring is nested on slideway, and both ends of the spring is limited respectively by the top surface of the flange on slideway top and sleeve, institute
The spring stated is compressed spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711293027.4A CN108266496A (en) | 2017-12-08 | 2017-12-08 | A kind of three planet carriers, ten tooth the second planet carrier secondary planet train formula RCM mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711293027.4A CN108266496A (en) | 2017-12-08 | 2017-12-08 | A kind of three planet carriers, ten tooth the second planet carrier secondary planet train formula RCM mechanisms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108266496A true CN108266496A (en) | 2018-07-10 |
Family
ID=62772021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711293027.4A Withdrawn CN108266496A (en) | 2017-12-08 | 2017-12-08 | A kind of three planet carriers, ten tooth the second planet carrier secondary planet train formula RCM mechanisms |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108266496A (en) |
-
2017
- 2017-12-08 CN CN201711293027.4A patent/CN108266496A/en not_active Withdrawn
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180710 |
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| WW01 | Invention patent application withdrawn after publication |