CN108542498B - A kind of steering connections and minimally invasive robot for single hole minimally invasive robot - Google Patents
A kind of steering connections and minimally invasive robot for single hole minimally invasive robot Download PDFInfo
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- CN108542498B CN108542498B CN201810042558.4A CN201810042558A CN108542498B CN 108542498 B CN108542498 B CN 108542498B CN 201810042558 A CN201810042558 A CN 201810042558A CN 108542498 B CN108542498 B CN 108542498B
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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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (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)
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- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of steering connections for single hole minimally invasive robot, the steering unit being sequentially connected end to end in turn including several, each steering unit includes steering block, interior guide pad, outer guide pad, outer support block and support shaft, outer guide pad encloses packet in the outside of interior guide pad, interior guide pad is connected with outer support block, outer support block is connected with support shaft, and outer guide pad is contacted but is not attached to outer support block；Each steering block includes the steering strut for turning to chassis, positioning top plate and connection and turning to chassis, positioning top plate, and turning to can either relatively rotate and can rotate synchronously between chassis and outer guide pad.The invention also discloses a kind of minimally invasive robot, the minimally invasive robot includes mechanical arm, and the mechanical arm includes postbrachium body, front end shearing actuator and the steering connections as described above for connecting postbrachium body and front end shearing actuator.It can be realized using the present invention and shearing actuator in surgical arm front end flexibly turned to control at a distance.
Description
Technical field
The invention belongs to the field of medical instrument technology more particularly to a kind of steering connections for single hole minimally invasive robot and
Minimally invasive robot.
Background technique
With the continuous development of science and technology, the fast development especially in terms of control, robot field have had
Great breakthrough can achieve minimally invasive effect by robotic assisted surgery, obtain the extensive of people especially in medical field
Receive.Miscellaneous operation auxiliary robot also achieved corresponding research and development in recent years, at present the surgical machine National People's Congress
Part is also in development phase, and existing operating robot function is relatively single, and structure is simple, and the structure of mechanical arm is relatively
Heaviness is difficult by realizing Minimally Invasive Surgery using robot.
It can be seen that the existing technology needs further improvement and improves.
Summary of the invention
The present invention be in place of avoiding above-mentioned the shortcomings of the prior art provide it is a kind of for single hole minimally invasive robot
Steering connections and minimally invasive robot, it is small in size, and can be realized far distance control and flexibly turn to.
The technical scheme adopted by the invention is as follows:
A kind of steering connections for single hole minimally invasive robot, including the steering unit that several are sequentially connected end to end in turn, respectively
Steering unit includes steering block, interior guide pad, outer guide pad, outer support block and support shaft, and interior guide pad is integrally hemispherical,
Outer guide pad is whole also hemispherical, and outer guide pad encloses packet in the outside of interior guide pad, and interior guide pad is connected with outer support block, outside
Supporting block is connected with support shaft, and the external guide pad in lower section that outer support block is located at outer guide pad plays a supportive role, outer guide pad with
Outer support block is contacted but is not attached to；Each steering block includes turning to chassis, positioning top plate and connection to turn to chassis, positioning
The steering strut of top plate, each steering block include that 2N root turns to strut, and N is integer more than or equal to 1, each steering block it is adjacent
Two turn to struts between angles it is equal, the support shaft for the steering unit being located above and be located at the steering unit below and and its
The positioning top plate of adjacent steering unit is connected；The steering chassis of each steering block is nested with respectively is belonging to same turn with the steering block
It can either relatively rotate and can rotate synchronously to the outside of the outer guide pad of unit, and between steering chassis and outer guide pad.
The steering connections further includes yaw drive, and yaw drive includes deflecting traction rope and strainer,
One or two deflection traction ropes are connected on a piece steering strut, the other end for deflecting traction rope connects the strainer,
Strainer controls the deflection traction rope tensioning or loosens that the steering block is driven to occur partially relative to inside and outside guide pad
Turn, realizes and relatively rotate.
Each steering unit further includes limiting steering mechanism, and limiting steering mechanism includes opening along the contour line of outer guide pad
If outer guide chute, the interior guide chute that opens up of contour line along interior guide pad, the position of inside and outside guide chute is opposite, and
The quantity of inside and outside guide chute with identical, the limiting steering mechanism that belongs to the steering quantity of strut of same steering unit with it
It further include the guide rod and detent ball being arranged on the inside of each steering strut, detent ball is located at the inside of interior guide pad, guide rod
One end and turning to is connected on the inside of the bottom end of strut, after the other end sequentially passes through outer guide chute and interior guide chute with detent ball phase
Even.
The steering connections further includes rotary drive mechanism, the branch of rotary drive mechanism and the steering unit for being located at bottom
Support axis is connected and the support shaft is driven to rotate, and drives and the support shaft when positioned at the support shaft rotation of the steering unit of bottom
Connected outer support block rotation, to drive the interior guide pad rotation being connected with the outer support block, interior guide pad rotation passes through card
Position ball, guide rod drive the steering block and outer guide pad to rotate synchronously, positioned at the steering block rotation of the steering unit of bottom
When synchronous drive top adjacent thereto steering unit support shaft rotation, to drive entire steering connections synchronous rotary.
The rotary drive mechanism includes rotation traction traction rope, rotary chuck, positioning plate and rotating electric machine, positioning plate
Side offers traction rope entrance, the other side offers traction rope outlet, and rotary chuck is located at the top of positioning plate, is located at most
The support shaft of the steering unit of lower section runs through the rotary chuck, and the bottom end of the support shaft contacts but is not attached to positioning plate,
Rotation traction traction rope from traction rope entrance penetrate and around be located at rotary chuck below support shaft around one circle after drawing-in rotary chuck again
By being similarly pierced by around to the traction rope outlet around support shaft one week be located above rotary chuck, and on located bottom plate, revolve
The both ends for turning traction rope are separately connected the output shaft of rotating electric machine.
The arc-shaped recess in top of the outer support block, and the bottom end of the profile on the top of outer support block and outer guide pad is taken turns
Exterior feature is adapted.
It is detachable connection between the support shaft and coupled positioning top plate.
Each steering unit further includes the connecting column for connecting interior guide pad and outer support block, the interior guide pad
It is hollow structure in the middle part of middle part, the middle part of connecting column and outer support block and is mutually communicated.
Conduit is provided with below the positioning top plate of each steering block, in the just internal guide pad of the entrance of conduit
Portion, outlet face position the middle part of top plate, to be threadedly coupled between the support shaft and coupled positioning top plate, positioning top
The inner hollow of disk and it is provided with internal screw thread, the outside of support shaft is provided with external screw thread compatible with the internal screw thread, each to support
The inner hollow of axis.
The invention also discloses a kind of minimally invasive robot, the minimally invasive robot includes mechanical arm, and the mechanical arm includes
Postbrachium body, front end shearing actuator and the steering connections as described above for connecting postbrachium body and front end shearing actuator, institute
It states shearing actuator to be connected with the positioning top plate for the steering unit for being located at the top, postbrachium body and the steering unit for being located at bottom
Positioning plate be connected.
By adopting the above-described technical solution, obtained by the present invention have the beneficial effect that
Steering connections in the present invention is small in size, and manipulation is easy, which is installed on surgery mechanical arm, can
The far distance control flexibly turned to shearing actuator is realized by deflection traction rope and rotation traction traction rope.
Detailed description of the invention
Fig. 1 is the part-structure of the steering unit and rotary drive mechanism positioned at bottom of an embodiment of the present invention
Installation diagram.
Fig. 2 is a kind of front view of embodiment of steering block in the present invention.
Fig. 3 is a kind of around downward front view of positioning plate in the present invention, rotary chuck and rotation traction traction rope.
Fig. 4 is the installation diagram of the interior guide pad of an embodiment of the present invention, connecting column and outer support block.
Fig. 5 is a kind of around downward installation diagram of positioning plate in the present invention, rotary chuck and rotation traction traction rope.
Fig. 6 is a kind of status diagram of embodiment of mechanical arm in the present invention.
1, steering block 11, positioning top plate 12, steering strut 13, steering chassis 14, through-hole 15, guide rod 16, card
Position ball 2, interior guide pad 21, interior guide chute 3, outer guide pad 31, outer guide chute 4, outer support block 5, support shaft 6,
Rotation traction traction rope 7, connecting column 8, rotary chuck 9, positioning plate 91, traction rope entrance 92, traction rope outlet 10, deflection
Traction rope 17, conduit 18, postbrachium body 19, shearing actuator
Specific embodiment
The present invention is described in further detail with specific embodiment with reference to the accompanying drawing, but the present invention is not limited to
These embodiments.
As shown in Figures 1 to 6, a kind of steering connections for single hole minimally invasive robot, including several head and the tail successively phases
Steering unit even.Although illustrating only two connected steering units in Fig. 6, the steering connections in the present invention does not limit to
In only include two connected steering units, can also be three it is even more.
Each steering unit includes steering block 1, interior guide pad 2, outer guide pad 3, outer support block 4 and support shaft 5, outer guiding
Block 3 encloses packet in the outside of interior guide pad 2.Each steering unit further includes the company for connecting interior guide pad 2 and outer support block 4
Column 7 is connect, outer support block 4 is connected with support shaft 5, and the external guide pad 3 in lower section that outer support block 4 is located at outer guide pad 3 plays support and makees
With outer guide pad 3 is contacted but is not attached to outer support block 4.The arc-shaped recess in top of the outer support block 4, and outer support block 4
The profile on top be adapted with the bottom end profile of outer guide pad 3.To realize outer guide pad 3 in rotary course, outer branch
Bracer 4 can support existing effect in fact, ensure that integrally-built stability.
Each steering block 1 includes turning to chassis 13, positioning top plate 11 and connection to turn to chassis 13, positioning top plate 11
Steering strut 12, each steering block 1 includes four steering struts 12, between adjacent two steerings strut 12 of each steering block 1
Angle is equal.Each top for turning to strut 12 is connected with positioning top plate 11, bottom end is connected with chassis 13 is turned to, and respectively turns to strut
12 section is also arc-shaped, and all steering struts 12 for belonging to same steering block 1, which cooperate, constitutes one similar to hemispherical Shell
Shape, make to turn to chassis 13 and be fastened on 3 outside of outer guide pad, constitute the shape of a similar whole ball together with outer guide pad 3.
It should be noted that the steering strut 12 in the present invention in each steering block 1 be not limited only to it is above-mentioned
Four steering struts 12 may include two steering struts 12, when only two steering struts 12, turns to chassis 13 and is only capable of
It is deflected along outer guide pad to both direction, certainly, each steering block 1 can also include that the six roots of sensation turns to strut 12, when there is the six roots of sensation
When turning to strut 12, turning to chassis 13 can also be wrapped along outer guide pad 3 to six direction deflection or even the steering block 1
Greater number of steering strut 12 is included, to realize the more careful control in deflection direction.
The support shaft 5 for the steering unit being located above and below the steering unit and steering unit adjacent thereto
Top plate 11 is positioned to be connected.It is detachable connection between the support shaft 5 and coupled positioning top plate 11.Interior guide pad 2
Whole hemispherical, outer guide pad 3 is whole also hemispherical.The steering chassis 13 of each steering block 1 be nested with respectively with the steering
Block 1 belongs to the outside of the outer guide pad 3 of same steering unit, and turns to the energy under the drive of following yaw drives of chassis 13
Enough realize between outer guide pad 3 relatively rotates, under the drive of following rotary drive mechanisms can between outer guide pad 3 reality
Now rotate synchronously.
The steering connections further includes yaw drive, and yaw drive includes deflection traction rope 10 and tensioning device
Structure is connected with two deflection traction ropes 10 on a piece steering strut 12, and the other end of deflection traction rope 10, which passes through, is provided with steering
The strainer is connected after through-hole 14 or through slot on chassis 13, strainer controls the tensioning of deflection traction rope 10 or puts
Pine is realized and relatively rotates to drive the steering block to deflect relative to inside and outside guide pad.
For example, for each steering block 1 possesses the steering connections of four steering struts 12, when needing to deflect to the left
When, it need to only tighten the deflection traction rope 10 being connected with the steerings strut 12 for being located at left side and pine length is comparable and positioned at right side
Turn to the connected deflection traction rope 10 of strut 12, each deflection traction rope 10 being connected with the steering strut 12 for being located at front side, rear side
It keeps elasticity constant, the deflection to the left of steering block can be realized；When needing to deflect forward, it need to only tighten and be located at front side
The connected deflection traction rope 10 of steering strut 12 and the deflection that is connected of the comparable steering strut 12 with positioned at rear side of loose length
Traction rope 10 keeps elasticity constant, Ji Keshi with positioned at left side, each deflection traction rope 10 that the steering strut of rear side is connected
The deflection forward of block is turned now to, and so on.
The deflection amplitude depends on tightening or degree of relaxation of the strainer for deflection traction rope 10, certainly,
The extreme position of deflection depends on the volume of the location of bottom end of following inside and outside guide chutes and the steering block 1.
Each steering unit further includes limiting steering mechanism, and limiting steering mechanism includes the contour line along outer guide pad 3
The outer guide chute 31 that opens up, the interior guide chute 21 that opens up of contour line along interior guide pad 2, the position of inside and outside guide chute
Relatively, and the quantity of inside and outside guide chute is identical as the steering quantity of strut 12 of same steering unit is belonged to it, turns to
Position-limit mechanism further includes the guide rod 15 and detent ball 16 that each 12 inside of steering strut is arranged in, and detent ball 16 is located at interior guide pad
2 inside, one end of guide rod 15 and turning to is connected on the inside of the bottom end of strut 12, the other end sequentially passes through outer guide chute 31 and
It is connected after interior guide chute 21 with detent ball 16.
Certainly, the detent ball 16 is not limited only to the spherical of diagram, can also be other shapes, as long as its outer diameter
Greater than the cross-sectional width of interior guide chute 21, it can be avoided and turn to chassis 13 and the disengaging of interior guide pad 2.
The steering connections further includes rotary drive mechanism, the branch of rotary drive mechanism and the steering unit for being located at bottom
Support axis 5 is connected and the support shaft 5 is driven to rotate, and drives and the branch when rotating positioned at the support shaft 5 of the steering unit of bottom
It supports the connected outer support block 4 of axis 5 to rotate, so that the interior guide pad 2 being connected with the outer support block 4 be driven to rotate, interior guide pad 2 revolves
Turn that the steering block 1 and outer guide pad 3 is driven to rotate synchronously by detent ball 16, guide rod 15, positioned at the steering list of bottom
The support shaft 5 of the steering unit of synchronous drive top adjacent thereto rotates when the steering block 1 of member rotates, to drive entire turn
It is rotated to joint synchronous.
The rotary drive mechanism includes rotation traction traction rope 6, rotary chuck 8, positioning plate 9 and rotating electric machine, positions bottom
The side of plate 9 offers traction rope entrance 91, the other side offers traction rope outlet 92, and rotary chuck 8 is located at positioning plate 9
The rotary chuck 8 is run through positioned at the support shaft 5 of the steering unit of bottom in top, the support shaft 5 and rotary chuck 8 it
Between for rigid connection, the bottom end of the support shaft 5 contacts but is not attached to positioning plate 9, and rotation traction traction rope 6 is from traction rope entrance 91
Penetrate and around be located at the support shaft of the lower section of rotary chuck 8 after a circle drawing-in rotary chuck 8 again by similarly around to around being located at rotation
Turn support shaft one week above chuck, and the traction rope outlet 92 on located bottom plate 9 is pierced by, the both ends point of rotation traction traction rope 6
Not Lian Jie rotating electric machine output shaft.The i.e. described rotation traction traction rope 6 support shaft upper and lower part otherwise be to twine clockwise
Around or be wrapped anti-clockwise, so that rotary chuck can be driven by the movement of far distance control rotating wire rope 6 by realizing
8 and the rotation of support shaft 5 to drive the purpose of entire steering connections rotation.
Certainly, if in actual application, if only needing short distance control, it can directly be driven and be located at most with micromotor
The support shaft 5 of the steering unit of lower section rotates, without above-mentioned rotation traction traction rope 6 and rotary chuck 8 is arranged.
In order to facilitate the control routes for introducing following shearing actuators, in the middle part of the interior guide pad 2, connecting column 7
Portion and the middle part of outer support block 4 are hollow structure and are mutually communicated, and the lower section of the positioning top plate 11 of each steering block 1 is equal
It is provided with conduit 17, the middle part of the just internal guide pad 2 of the entrance of conduit 17, outlet face position the middle part of top plate 11, the branch
It supports to be threadedly coupled, positioning the inner hollow of top plate 11 and being provided with internal screw thread between axis 5 and coupled positioning top plate 11,
The outside of support shaft 5 is provided with external screw thread compatible with the internal screw thread, the inner hollow of each support shaft 5, and the conduit 17 is
Hose construction, control route can be introduced out of the support shaft 5 of steering unit that be located at bottom, and successively each steering unit of drawing-in
Outer support block 4, interior guide pad 2, conduit 17, positioning top plate 11 after connect the shearing actuator, the control connection
External control system, for controlling shearing actuator movement.
As shown in Figures 1 to 6, the invention also discloses a kind of minimally invasive robot, the minimally invasive robot includes mechanical arm,
The mechanical arm includes postbrachium body 18, front end shearing actuator 19 and shears actuator 19 for connecting postbrachium body 18 and front end
Steering connections as described above, the shearing actuator 19 are connected with the positioning top plate 11 for the steering unit for being located at the top, after
Arm body 18 is connected with the positioning plate 9 for the steering unit for being located at bottom.The steering connections can drive the shearing when moving
Actuator 19 moves synchronously, and flexibly turns to control to shearing actuator 19 to realize.
The part that do not address in the present invention uses or uses for reference prior art and can be realized.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.
Specific embodiment described herein is only to spiritual example explanation of the invention.Belonging to the present invention
Those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitutes, and however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (10)
1. a kind of steering connections for single hole minimally invasive robot, which is characterized in that turn including what several were sequentially connected end to end in turn
To unit, each steering unit includes steering block, interior guide pad, outer guide pad, outer support block and support shaft, and interior guide pad is whole
Hemispherical, outer guide pad is whole also hemispherical, and outer guide pad encloses packet in the outside of interior guide pad, interior guide pad and outer support
Block is connected, and outer support block is connected with support shaft, and the external guide pad in lower section that outer support block is located at outer guide pad plays a supportive role, outside
Guide pad is contacted but is not attached to outer support block；Each steering block includes turning to chassis, positioning top plate and connection to turn to
Chassis, the steering strut for positioning top plate, each steering block include that 2N root turns to strut, and N is integer more than or equal to 1, and each turn
To block it is adjacent two turn to strut between angles it is equal, the support shaft for the steering unit being located above and be located at the steering unit
The positioning top plate of lower section and steering unit adjacent thereto is connected；The steering chassis of each steering block be nested with respectively with the steering block
Belong to the outside of the outer guide pad of same steering unit, and turns to and can either be relatively rotated between chassis and outer guide pad and can
It rotates synchronously.
2. a kind of steering connections for single hole minimally invasive robot according to claim 1, which is characterized in that the steering
Joint further includes yaw drive, and yaw drive includes deflection traction rope and strainer, is connected on a steering strut
One or two deflection traction ropes are connected to, the other end for deflecting traction rope connects the strainer, described in strainer control
The tensioning of deflection traction rope loosens that the steering block is driven to deflect relative to inside and outside guide pad, realizes and relatively rotates.
3. a kind of steering connections for single hole minimally invasive robot according to claim 1, which is characterized in that each described turn
Further include limiting steering mechanism to unit, limiting steering mechanism include the outer guide chute opened up along the contour line of outer guide pad,
The interior guide chute opened up along the contour line of interior guide pad, the position of inside and outside guide chute is opposite, and inside and outside guide chute
Quantity is identical as the steering quantity of strut of same steering unit is belonged to it, and limiting steering mechanism further includes being arranged at each turn
To the guide rod and detent ball on the inside of strut, detent ball is located at the inside of interior guide pad, one end and the steering strut of guide rod
It is connected on the inside of bottom end, the other end is connected after sequentially passing through outer guide chute and interior guide chute with detent ball.
4. a kind of steering connections for single hole minimally invasive robot according to claim 3, which is characterized in that the steering
Joint further includes rotary drive mechanism, and rotary drive mechanism is connected with the support shaft for the steering unit for being located at bottom and drives branch
Axis rotation is supportted, drives the outer support block rotation being connected with support shaft when positioned at the support shaft rotation of the steering unit of bottom, from
And the interior guide pad rotation being connected with outer support block is driven, interior guide pad rotation drives the steering by detent ball, guide rod
Block and outer guide pad rotate synchronously, synchronous drive top adjacent thereto when positioned at the steering block rotation of the steering unit of bottom
Steering unit support shaft rotation, to drive entire steering connections synchronous rotary.
5. a kind of steering connections for single hole minimally invasive robot according to claim 4, which is characterized in that the rotation
Driving mechanism includes rotation traction traction rope, rotary chuck, positioning plate and rotating electric machine, and the side of positioning plate offers traction rope
Entrance, the other side offer traction rope outlet, rotary chuck is located at the top of positioning plate, positioned at the steering unit of bottom
Support shaft runs through the rotary chuck, and the bottom end of the support shaft contacts but is not attached to positioning plate, and rotation traction traction rope is drawn certainly
Rope entrance penetrate and around be located at rotary chuck below support shaft around one circle after drawing-in rotary chuck again by similarly around to around position
Support shaft above rotary chuck one week, and the traction rope outlet on located bottom plate is pierced by, the both ends point of rotation traction traction rope
Not Lian Jie rotating electric machine output shaft.
6. a kind of steering connections for single hole minimally invasive robot according to claim 1, which is characterized in that the outer branch
The arc-shaped recess in the top of bracer, and the profile on the top of outer support block is adapted with the bottom end profile of outer guide pad.
7. a kind of steering connections for single hole minimally invasive robot according to claim 1, which is characterized in that the support
It is detachable connection between axis and coupled positioning top plate.
8. a kind of steering connections for single hole minimally invasive robot according to claim 1, which is characterized in that each described turn
To the connecting column that unit further includes for guide pad and outer support block in connecting, in the middle part of the interior guide pad, connecting column
It is hollow structure in the middle part of portion and outer support block and is mutually communicated.
9. a kind of steering connections for single hole minimally invasive robot according to claim 8, which is characterized in that each described turn
Conduit, middle part, the outlet face positioning top of the just internal guide pad of the entrance of conduit are provided with below to the positioning top plate of block
The middle part of disk positions the inner hollow of top plate and sets to be threadedly coupled between the support shaft and coupled positioning top plate
It is equipped with internal screw thread, the outside of support shaft is provided with external screw thread compatible with the internal screw thread, the inner hollow of each support shaft.
10. a kind of minimally invasive robot, the minimally invasive robot includes mechanical arm, which is characterized in that the mechanical arm includes postbrachium
Body, front end shearing actuator and for connect postbrachium body and front end shearing actuator as any one of claim 1 to 9 right is wanted
The steering connections for single hole minimally invasive robot is sought, the shearing actuator is determined with the steering unit positioned at the top
Position top plate is connected, and postbrachium body is connected with the positioning plate for the steering unit for being located at bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810042558.4A CN108542498B (en) | 2018-01-17 | 2018-01-17 | A kind of steering connections and minimally invasive robot for single hole minimally invasive robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810042558.4A CN108542498B (en) | 2018-01-17 | 2018-01-17 | A kind of steering connections and minimally invasive robot for single hole minimally invasive robot |
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| Publication Number | Publication Date |
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| CN108542498A CN108542498A (en) | 2018-09-18 |
| CN108542498B true CN108542498B (en) | 2019-10-01 |
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| CN201810042558.4A Active CN108542498B (en) | 2018-01-17 | 2018-01-17 | A kind of steering connections and minimally invasive robot for single hole minimally invasive robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109171967A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | One kind can flexible curved surgical robotic apparatus |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4628765A (en) * | 1985-02-27 | 1986-12-16 | Rensselaer Polytechnic Institute | Spherical robotic wrist joint |
| DE10249847B4 (en) * | 2002-10-25 | 2008-08-28 | Mavig Gmbh | Articulated suspension |
| JP4660770B2 (en) * | 2006-08-21 | 2011-03-30 | 国立大学法人 鹿児島大学 | 3-DOF active rotary joint |
| WO2009026937A2 (en) * | 2007-08-26 | 2009-03-05 | Abozaied Abdallah Ezzat Abdall | New robotic joint configuration |
| CN103341865B (en) * | 2013-07-05 | 2015-06-24 | 大连理工大学 | Three-freedom-degree constant speed decoupling space robot active spherical wrist and universal compliant control method |
| CN105598991B (en) * | 2016-03-17 | 2017-11-07 | 清华大学 | Compound spherical shell joint arrangement and its control method |
| CN206105892U (en) * | 2016-10-25 | 2017-04-19 | 彭栩庭 | A rotary joint and robot for robot |
| CN107468339B (en) * | 2017-08-04 | 2020-06-05 | 吉林大学 | Flexible multi-joint surgical instrument for robot-assisted minimally invasive surgery |
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