CN108266497A - Planetary gear train type RCM mechanisms - Google Patents
Planetary gear train type RCM mechanisms Download PDFInfo
- Publication number
- CN108266497A CN108266497A CN201711293035.9A CN201711293035A CN108266497A CN 108266497 A CN108266497 A CN 108266497A CN 201711293035 A CN201711293035 A CN 201711293035A CN 108266497 A CN108266497 A CN 108266497A
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- CN
- China
- Prior art keywords
- planetary gear
- planet carrier
- rotating bar
- scalpel
- driving motor
- Prior art date
- 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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Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 23
- 210000000481 breast Anatomy 0.000 claims abstract description 29
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 11
- 238000001356 surgical procedure Methods 0.000 abstract description 3
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011800 void material Substances 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
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses planetary gear train type RCM mechanisms.The characteristics such as the degree of freedom of RCM mechanisms, the position of virtual center point, working space size directly affect the working performance of Minimally Invasive Surgery machinery.The present invention includes rotating bar driving motor, rotating bar, active planet carrier driving motor, fast pulley, the first breast wheel, active planet carrier, the first planetary gear, sun gear, driven planet carrier, the second breast wheel, the second planetary gear, scalpel, moving sleeve, rope, rotational sleeve, rope motor, spring and scalpel motor.The present invention obtains virtual center point by adding the movement of gear die quasi-plane four-bar mechanism on open chain rod piece, the accurate rotation for realizing scalpel on three directions of virtual center point progress, 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 specifically one kind can perform its end
The planetary gear train type RCM mechanisms that device some fixed virtual center point in space rotates.
Background technology
With the development of science and technology, Minimally Invasive Surgery is welcome in gradual maturation and greatly, micro- compared to traditional operation
The features such as invasive procedures are wound small, pain is light, it is fast to restore, the hospital stays is short, bleeding is few, reduces danger of the traditional operation to human body
Evil, either physiologically still 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 use rod piece gear combination to realize a kind of RCM mechanisms.
In order to achieve the above object, the technical solution adopted by the present invention is：
The present invention include rotating bar driving motor, rotating bar, active planet carrier driving motor, fast pulley, the first breast wheel,
Active planet carrier, the first planetary gear, sun gear, driven planet carrier, the second breast wheel, the second planetary gear, scalpel, movable sleeving
Cylinder, rope, rotational sleeve, rope motor, spring and scalpel motor；The pedestal of the rotating bar driving motor is fixed on rack
On；One end of rotating bar and the output shaft of rotating bar driving motor are fixed, and rotating bar bar length direction and rotating bar driving motor
Output shaft it is axially parallel；The pedestal of active planet carrier driving motor is fixed on the other end of rotating bar；The one of active planet carrier
The output shaft with active planet carrier driving motor is held to fix；The output shaft of rotating bar driving motor is horizontally disposed with, and active planet
The output shaft of frame driving motor is vertical with the output shaft of rotating bar driving motor；The fast pulley and active planet carrier driving electricity
Machine is arranged on rotating bar the same end, and is fixed with rotating bar；First breast wheel is hinged in the middle part of active planet carrier；First
Planetary gear and sun gear are arranged at driven planet carrier and the hinged one end of active planet carrier；First planetary gear with it is driven
Planet carrier is fixed, and sun gear is fixed with active planet carrier；Second planetary gear is hinged on the other end of driven planet carrier；The
It is engaged respectively with fast pulley and the first planetary gear the both sides of one breast wheel；Second breast wheel is hinged in the middle part of driven planet carrier, and two
It is engaged respectively with sun gear and the second planetary gear side.The side of rotational sleeve is fixed with the second planetary gear, moving sleeve and rotation
Sleeve forms sliding pair；The scalpel is nested in moving sleeve, is fixed with the output shaft of scalpel motor；Scalpel
Central axis intersects with the output shaft central axis of rotating bar driving motor；The pedestal of scalpel motor is fixed on moving sleeve
On；The output shaft of scalpel motor is vertical with the output shaft of active planet carrier driving motor；The pedestal of rope motor, which is fixed on, to be turned
On moving sleeve；One end of rope is fixed on the output shaft of rope motor, and the other end is fixed on moving sleeve；Moving sleeve leads to
Cross spring return function.The centre-to-centre spacing of fast pulley and the first planetary gear is equal to the distance of the second planetary gear and scalpel point of a knife, sun gear
It is equal to the distance of fast pulley and scalpel point of a knife with the centre-to-centre spacing of the second planetary gear.
The moving sleeve is nested in rotational sleeve.
The gearratio of first breast wheel and fast pulley and the first planetary gear is 1, the second breast wheel and sun gear
Gearratio with the second planetary gear is 1.
The spring is nested on moving sleeve, and both ends of the spring is respectively by the flange and rotational sleeve on moving sleeve top
Top surface limiting, the spring be compressed spring.
The spring is nested on moving sleeve, both ends of the spring respectively with the flange and rotational sleeve of moving sleeve bottom end
Bottom surface fix, the spring be extension spring.
The present invention obtains virtual center point by adding the movement of gear die quasi-plane four-bar mechanism on open chain rod piece,
The accurate rotation for realizing scalpel on three directions of virtual center point progress, and realize that scalpel is crossing virtual center point
It is moved on axis, so as to which surgery location point be accurately positioned in Minimally Invasive Surgery, and mechanism is simple, and design principle is simple, if
Easy to implement in meter and assembling, gear engagement ensures movement accuracy.
Description of the drawings
Fig. 1 is the overall structure stereogram of the present invention.
Fig. 2 is the mechanism principle schematic diagram of the present invention.
In figure：1st, rack, 2, rotating bar driving motor, 3, rotating bar, 4, active planet carrier driving motor, 5, fast pulley,
6th, the first breast wheel, 7, active planet carrier, the 8, first planetary gear, 9, sun gear, 10, driven planet carrier, the 11, second breast wheel,
12nd, the second planetary gear, 13, scalpel, 14, moving sleeve, 15, rotational sleeve, 16, rope motor, 17, spring, 18, scalpel
Motor, O, virtual center point.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As illustrated in fig. 1 and 2, planetary gear train type RCM mechanisms, including rotating bar driving motor 2, rotating bar 3, active planet carrier
Driving motor 4, fast pulley 5, the first breast wheel 6, active planet carrier 7, the first planetary gear 8, sun gear 9, driven planet carrier 10,
Two breast wheels 11, the second planetary gear 12, scalpel 13, moving sleeve 14, rope, rotational sleeve 15, rope motor 16, spring 17
With scalpel motor 18；The pedestal of rotating bar driving motor 2 is fixed in rack 1；One end of rotating bar 3 and rotating bar driving electricity
The output shaft of machine 2 is fixed, and 3 bar length direction of rotating bar is axially parallel with the output shaft of rotating bar driving motor 2；Rotating bar drives
Motor 2 drives rotating bar 3 around center axis with respect to gantry rotation；The pedestal of active planet carrier driving motor 4, which is fixed on, to be turned
The other end of lever 3；One end of active planet carrier 7 and the output shaft of active planet carrier driving motor 4 are fixed, and active planet carrier drives
Dynamic motor 4 drives active planet carrier 7 to relatively rotate bar rotation；The output shaft of rotating bar driving motor 2 is horizontally disposed with, and actively row
The output shaft of carrier driving motor 4 is vertical with the output shaft of rotating bar driving motor 2；Fast pulley 5 and active planet carrier driving electricity
Machine 4 is arranged on 3 the same end of rotating bar, and is fixed with rotating bar 3 by dental inlay；First breast wheel 6 is hinged in active planet carrier 7
Portion；First planetary gear 8 and sun gear 9 are arranged at driven planet carrier 10 and the hinged one end of active planet carrier 7；First planetary gear
8 are fixed with driven planet carrier 10 by dental inlay, and sun gear 9 is fixed with active planet carrier 7 by involute spline；Second planetary gear
12 are hinged on the other end of driven planet carrier；It is engaged respectively with 5 and first planetary gear 8 of fast pulley the both sides of first breast wheel 6；The
Two breast wheels 11 are hinged on driven 10 middle part of planet carrier, and both sides are engaged respectively with sun gear and the second planetary gear.Rotational sleeve 15
Side fixed with the second planetary gear 12 by dental inlay, moving sleeve 14 is nested in rotational sleeve 15, and with rotational sleeve structure
Into sliding pair；Scalpel 13 is nested in moving sleeve 14, is fixed with the output shaft of scalpel motor 18；The center of scalpel 13
Axis intersects with the output shaft central axis of rotating bar driving motor 2；The pedestal of scalpel motor 18 is fixed on moving sleeve,
Driving scalpel 13 relatively moves sleeve 14 and rotates；The output shaft of scalpel motor and the output of active planet carrier driving motor 4
Axis is vertical；The pedestal of rope motor 16 is fixed on rotational sleeve 15；One end of rope is fixed on the output shaft of rope motor 16
On, the other end is fixed on moving sleeve 14；Rope motor 16 is electric rotating machine, for folding and unfolding rope；Spring 17, which is nested with, to be moved
On moving sleeve 14, both ends are limited respectively by the top surface of the flange on 14 top of moving sleeve and rotational sleeve 15.Fast pulley 5 and first
The centre-to-centre spacing of planetary gear 8 is equal to the distance of the second planetary gear 12 and 13 point of a knife of scalpel, in 9 and second planetary gear 12 of sun gear
The heart is away from the distance equal to fast pulley 5 and 13 point of a knife of scalpel.
The gearratio of first breast wheel and fast pulley and the first planetary gear is 1, the second breast wheel and sun gear and second
The gearratio of planetary gear is 1, and the rotation of each motor does not couple independently of each other.
The operation principle of planetary gear train type RCM mechanisms is：
The power of the mechanism is inputted by four motors.Rotating bar driving motor 2 can make rotating bar 3 rotate realization around x-axis
The rotation in one direction；Active planet carrier driving motor 4 drives active planet carrier 7 to relatively rotate bar 3 and rotates, and fast pulley 5 with
Rotating bar 3 is fixed, and fast pulley 5 is engaged with the first breast wheel 6, the first breast wheel 6 is engaged with the first planetary gear 8 so that the first row
Star-wheel 8 relatively rotates bar 3 and does plane motion；First planetary gear 8 is fixed with driven planet carrier 10 so that driven planet carrier 10 is opposite
Rotating bar 3 does plane motion；Sun gear 9 is fixed with active planet carrier 7 by involute spline, and the second planetary gear 12 and rotation
Sleeve 15 is fixed, and sun gear 9 is engaged with the second breast wheel 11, the second breast wheel 11 is engaged with the second planetary gear 12 so that rotation
Sleeve 15 realizes the rotation in a direction around y-axis；Scalpel motor 18 drives scalpel 13 to turn around one direction of z-axis realization
Dynamic, the scalpel that the rope control that rope motor 16 is fixed on by folding and unfolding on moving sleeve is nested in rotational sleeve realizes z
Movement in axis direction.In this way, in the case that rope motor 16 does not rotate, no matter rotating bar driving motor 2, active planet carrier drive
Dynamic motor 4 and scalpel motor 18 how interoperation (no matter speed discrepancy is how many), due to the center of rotation of fast pulley 5, the
The center of rotation (center of rotation of sun gear 9 is overlapped with the center of rotation of the first planetary gear 8) of one planetary gear 8, the second planetary gear
Line forms parallelogram mechanism successively for this 4 points of 12 center of rotation and the point of a knife of scalpel 13, and scalpel can be around virtual
Central point O (point of a knife) carries out the rotation on three directions.When rope motor 16 rotates, scalpel can be axial (empty along itself
Intend central point O on axis) it is mobile, so as to fulfill the movement in a direction.Therefore, the present invention accurately realizes scalpel around void
Intend the rotation on three directions of central point O progress, and realize that scalpel is moved on the axis for crossing virtual center point O, from
And surgery location point being accurately positioned in Minimally Invasive Surgery, and mechanism is simple, design principle is simple, easily real in design and assembling
Existing, gear engagement ensures movement accuracy.
Claims (5)
1. planetary gear train type RCM mechanisms, including rotating bar driving motor, rotating bar, active planet carrier driving motor, fast pulley,
First breast wheel, active planet carrier, the first planetary gear, sun gear, driven planet carrier, the second breast wheel, the second planetary gear, operation
Knife, moving sleeve, rope, rotational sleeve, rope motor, spring and scalpel motor, it is characterised in that：The rotating bar driving
The pedestal of motor is fixed in rack；One end of rotating bar and the output shaft of rotating bar driving motor are fixed, and rotating bar bar is long
Direction is axially parallel with the output shaft of rotating bar driving motor；The pedestal of active planet carrier driving motor is fixed on the another of rotating bar
One end；One end of active planet carrier and the output shaft of active planet carrier driving motor are fixed；The output shaft of rotating bar driving motor
It is horizontally disposed, and the output shaft of active planet carrier driving motor is vertical with the output shaft of rotating bar driving motor；The fixation
Wheel is arranged on rotating bar the same end, and fix with rotating bar with active planet carrier driving motor；First breast wheel is hinged
In the middle part of active planet carrier；First planetary gear and sun gear are arranged at driven planet carrier and the hinged one end of active planet carrier；
First planetary gear is fixed with driven planet carrier, and sun gear is fixed with active planet carrier；Second planetary gear is hinged
In the other end of driven planet carrier；It is engaged respectively with fast pulley and the first planetary gear the both sides of first breast wheel；Second breast wheel
It is hinged in the middle part of driven planet carrier, both sides are engaged respectively with sun gear and the second planetary gear；The side of rotational sleeve and the second row
Star-wheel is fixed, and moving sleeve forms sliding pair with rotational sleeve；The scalpel is nested in moving sleeve, with scalpel electricity
The output shaft of machine is fixed；The central axis of scalpel intersects with the output shaft central axis of rotating bar driving motor；Scalpel electricity
The pedestal of machine is fixed on moving sleeve；The output shaft of scalpel motor is vertical with the output shaft of active planet carrier driving motor；
The pedestal of rope motor is fixed on rotational sleeve；One end of rope is fixed on the output shaft of rope motor, and the other end is fixed
On moving sleeve；Moving sleeve passes through spring return function；The centre-to-centre spacing of fast pulley and the first planetary gear be equal to the second planetary gear with
The centre-to-centre spacing of the distance of scalpel point of a knife, sun gear and the second planetary gear is equal to the distance of fast pulley and scalpel point of a knife.
2. planetary gear train type RCM mechanisms according to claim 1, it is characterised in that：The moving sleeve, which is nested in, to be turned
In moving sleeve.
3. planetary gear train type RCM mechanisms according to claim 1, it is characterised in that：First breast wheel and fixation
The gearratio of wheel and the first planetary gear is 1, and the gearratio of the second breast wheel and sun gear and the second planetary gear is 1.
4. planetary gear train type RCM mechanisms according to claim 1, it is characterised in that：The spring is nested in movable sleeving
On cylinder, both ends of the spring is limited respectively by the top surface of the flange on moving sleeve top and rotational sleeve, and the spring is compression bullet
Spring.
5. planetary gear train type RCM mechanisms according to claim 1, it is characterised in that：The spring is nested in movable sleeving
On cylinder, bottom surface of the both ends of the spring respectively with the flange of moving sleeve bottom end and rotational sleeve is fixed, and the spring is stretches bullet
Spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711293035.9A CN108266497A (en) | 2017-12-08 | 2017-12-08 | Planetary gear train type RCM mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711293035.9A CN108266497A (en) | 2017-12-08 | 2017-12-08 | Planetary gear train type RCM mechanisms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108266497A true CN108266497A (en) | 2018-07-10 |
Family
ID=62772018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711293035.9A Withdrawn CN108266497A (en) | 2017-12-08 | 2017-12-08 | Planetary gear train type RCM mechanisms |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108266497A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111043249A (en) * | 2019-12-19 | 2020-04-21 | 天长市天翔集团有限公司 | Planet carrier structure convenient for mounting conical surface bearing |
-
2017
- 2017-12-08 CN CN201711293035.9A patent/CN108266497A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111043249A (en) * | 2019-12-19 | 2020-04-21 | 天长市天翔集团有限公司 | Planet carrier structure convenient for mounting conical surface bearing |
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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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180710 |