CN108742848A - A kind of micro-wound operation robot device - Google Patents
A kind of micro-wound operation robot device Download PDFInfo
- Publication number
- CN108742848A CN108742848A CN201810628294.0A CN201810628294A CN108742848A CN 108742848 A CN108742848 A CN 108742848A CN 201810628294 A CN201810628294 A CN 201810628294A CN 108742848 A CN108742848 A CN 108742848A
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- Prior art keywords
- push
- pull rod
- flexible element
- sliding block
- micro
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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
- A61B34/30—Surgical robots
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
-
- 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)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical fields of operating robot, disclose a kind of micro-wound operation robot device.The micro-wound operation robot device includes bend arm and driving mechanism, bend arm includes the first bend arm and the second bend arm, first bend arm is equipped with the first Flexible element, and the top of the first Flexible element is equipped with the first connecting portion of stationary clamp, and first connecting portion is connected with the first push-pull rod；Second bend arm is equipped with the second Flexible element, and second connecting portion is equipped between the first Flexible element and the second Flexible element, and second connecting portion is connected with the second push-pull rod, and the first push-pull rod is arranged in second connecting portion and is connect with first connecting portion.The present invention is connect with the first push-pull rod and the second push-pull rod respectively by using driving mechanism, for driving the first push-pull rod and the push-and-pull of the second push-pull rod, is bent with controlling the first Flexible element and the second Flexible element, to realize the larger bending angle of bend arm.
Description
Technical field
The present invention relates to the technical field of operating robot more particularly to a kind of micro-wound operation robot devices.
Background technology
Minimally Invasive Surgery refers to the operation that the small notch by a bottom line on human body carries out, and is also commonly referred to as intervened
Formula is performed the operation, and robot assisted Minimally Invasive Surgery is cut by means of the surgical instrument of various visual pattern equipment and advanced dexterity through too small
Mouth is treated or is diagnosed into human body.
Number of patent application is that the patent of invention of CN201710100601.3 discloses a kind of minimally invasive robot manipulator structure, utilizes phase
Three kinds of actions of mechanical hand may be implemented in the outer flexible axle and interior flexible axle being mutually socketed.The structure is by pulling outer flexible axle and interior flexible axle
When, it can make the outer end under tension of arm body and be bent；When interior flexible axle rotates in outer flexible axle, pull-push piece push-and-pull folder is driven
Pincers are realized and clamp or open.The bending degree of arm body is limited to the density of fluting in the patent, and may lead to bend arm
Bending angle is not big enough.
It would therefore be highly desirable to need a kind of novel micro-wound operation robot device to solve the above problems.
Invention content
The purpose of the present invention is to provide a kind of micro-wound operation robot devices, to realize the larger bending angle of bend arm
Degree.
For this purpose, the present invention uses following technical scheme：
A kind of micro-wound operation robot device, including bend arm and driving mechanism, the bend arm include：
First bend arm, is equipped with the first Flexible element, and the top of first Flexible element is equipped with the of stationary clamp
One interconnecting piece, the first connecting portion are connected with the first push-pull rod；
Second bend arm is equipped with the second Flexible element, between first Flexible element and second Flexible element
Equipped with second connecting portion, the second connecting portion is connected with the second push-pull rod, and first push-pull rod is arranged in described second and connects
It is connect in socket part and with the first connecting portion；
The driving mechanism is connect with first push-pull rod and second push-pull rod respectively, for driving described first
Push-pull rod and second push-pull rod push-and-pull are bent with controlling first Flexible element and second Flexible element.
Preferably, further including the inner core of the fixed bend arm, the inner core includes transmission component, the driving mechanism
It is connect with first push-pull rod and second push-pull rod by the transmission component.
Preferably, the transmission component includes the first leading screw and the first sliding block for being connect with first threads of lead screw,
First sliding block is fixedly connected with first push-pull rod, is rotated by the first leading screw described in the driving mechanisms control, band
First sliding block and first push-pull rod push-and-pull are moved, is bent with controlling first Flexible element.
Preferably, the transmission component further includes the second leading screw and the second cunning being connect with second threads of lead screw
Block, second sliding block are fixedly connected with second push-pull rod, are rotated by the second leading screw described in the driving mechanisms control,
It drives second sliding block and second push-pull rod to push and pull, is bent with controlling second Flexible element.
It is slided preferably, the transmission component further includes third leading screw and the third being connect with the third threads of lead screw
Block, the third sliding block are connected to one end of drawstring, and the other end of the drawstring is connect with the clamp, and the clamp is equipped with multiple
Position spring, is rotated by third leading screw described in the driving mechanisms control, and the third sliding block sliding and the drawstring is driven to draw
It stretches, and the cooperation with the resetting spring, to control the folding of the clamp.
Preferably, further including control mechanism, pressure sensor, the control mechanism difference are equipped in the third sliding block
It is connect with the pressure sensor and the driving mechanism.
Preferably, further including supporting mechanism, the inner core is fixed in shell, and the shell is logical with the driving mechanism
Gear connection is crossed, and is fixed in the supporting mechanism, the driving mechanism drives the shell, the inner core and the bending
Arm common rotation.
Preferably, further including end cap, the end cap is detachably connected with the shell.
Beneficial effects of the present invention：
The present invention is connect with the first push-pull rod and the second push-pull rod respectively by using driving mechanism, for driving first to push away
Pull rod and the push-and-pull of the second push-pull rod are bent with controlling the first Flexible element and the second Flexible element, to realize that bend arm is larger
Bending angle.
Description of the drawings
Fig. 1 is the structural schematic diagram of micro-wound operation robot device provided by the invention；
Fig. 2 is the decomposition diagram of end cap in Fig. 1, inner core and shell；
Fig. 3 is the structural schematic diagram of inner core and bend arm in Fig. 2；
Fig. 4 is the schematic cross-section of Fig. 3；
Fig. 5 is the structural schematic diagram of bend arm in Fig. 3.
In figure：
11, the first bend arm；12, the second bend arm；13, clamp；14, first connecting portion；15, second connecting portion；111,
First Flexible element；112, the first push-pull rod；121, the second Flexible element；122, the second push-pull rod；131, resetting spring；
31, the first leading screw；32, the second leading screw；33, third leading screw；
41, the first sliding block；42, the second sliding block；43, third sliding block；431, drawstring；432, pressure sensor；
51, the first driving mechanism；52, the second driving mechanism；53, third driving mechanism；54, the 4th driving mechanism；
6, supporting mechanism；61, shell；62, end cap.
Specific implementation mode
Technical solution to further illustrate the present invention below with reference to the accompanying drawings and specific embodiments.
As shown in Figure 1, a kind of micro-wound operation robot device provided by the invention, which includes supporting mechanism 6, drives
Motivation structure, control mechanism and bend arm.Wherein, driving mechanism includes the 4th driving mechanism 54, the 4th driving mechanism 54, shell 61
It being fixed in supporting mechanism 6 with end cap 62, shell 61 is connect with the 4th driving mechanism 54 by gear (not shown), and the 4th
Driving mechanism 54 drives shell 61 and bend arm common rotation.
As shown in Fig. 2, end cap 62 is detachably connected with shell 61, it in this way can be by the inner core being connect with bend arm easily
It is inserted and removed from.Inner core includes transmission component, and driving mechanism is connect by transmission component with bend arm, and controls the curved of bend arm
It is bent.
As shown in figure 3, bend arm includes the first bend arm 11 and the second bend arm 12, transmission component includes the first leading screw 31
With the first sliding block 41 being threadedly coupled with the first leading screw 31, the first sliding block 41 is fixedly connected with the first push-pull rod 112, driving mechanism
Further include the first driving mechanism 51, the second driving mechanism 52 and third driving mechanism 53.Pass through the first driving mechanism 51 control the
One leading screw 31 rotates, and drives the first sliding block 41 and the push-and-pull of the first push-pull rod 112, to control the bending of the first bend arm 11.
Specifically, transmission component further includes the second leading screw 32 and the second sliding block 42 for being threadedly coupled with the second leading screw 32, and
Two sliding blocks 42 are fixedly connected with the second push-pull rod 122, are controlled the rotation of the second leading screw 32 by the second driving mechanism 52, are driven second
Sliding block 42 and the push-and-pull of the second push-pull rod 122, to control the bending of the second bend arm 12.
Specifically, as shown in Figures 3 to 5, transmission component further includes third leading screw 33 and is threadedly coupled with third leading screw 33
Third sliding block 43, third sliding block 43 is connected to one end of drawstring 431, and the other end of drawstring 431 is connect with clamp 13, clamp 13
Equipped with resetting spring 131, third leading screw 33 is controlled by third driving mechanism 53 and is rotated, drives 43 sliding of third sliding block and drawstring
431 stretch, and the cooperation with resetting spring 131, to control the folding of clamp 13.
The three of the above kind of drive is simple, and each transmission chain of the robot manipulator structure is single-stage driving, will not band
Carry out prodigious accumulated error, it is easy to accomplish the accuracy in control.
As shown in figure 4, third sliding block 43 in be equipped with pressure sensor 432, control mechanism respectively with pressure sensor 432 and
Driving mechanism (being herein third driving mechanism 53) connects, and when third sliding block 43 pulls back, clamp 13 clamps, and pressure passes
The signal of stress size is fed back to control mechanism by 432 stress of sensor, pressure sensor 432, and measures the clamping force of clamp 13
Size, to accurately control operation control.
As shown in figure 5, the first bend arm 11 is equipped with the first Flexible element 111, the top of the first Flexible element 111 is equipped with admittedly
The first connecting portion 14 of clamp pincers 13, first connecting portion 14 are connected with the first push-pull rod 112.Second bend arm 12 is equipped with the second bullet
Property unit 121, between the first Flexible element 111 and the second Flexible element 121 be equipped with second connecting portion 15, second connecting portion 15 connect
It is connected to the second push-pull rod 122, the first push-pull rod 112 is arranged in second connecting portion 15 and is connect with first connecting portion 14.This hair
It is bright by using the first driving mechanism 51 and the connection of the first push-pull rod 112 and the second driving mechanism 52 and the second push-pull rod 122
Connection, for driving the first push-pull rod 112 and the push-and-pull of the second push-pull rod 122, with the first Flexible element of control 111 and the second elasticity
Unit 121 is bent, and to realize the bending of the first bend arm 11 and the second bend arm 12, and realizes the curved of larger bend arm
Bent angle.Specifically, the force way of the bend arm is：First connecting portion 14 and second connecting portion 15 are by the first push-pull rod
112 and second push-pull rod 122 pulling force or thrust, so that first connecting portion 14 and second connecting portion 15 is deformed upon, to realize
The action that the bend arm of manipulator swings.
Obviously, the above embodiment of the present invention is just for the sake of clearly illustrating examples made by the present invention, and it is pair to be not
The restriction of embodiments of the present invention.For the ordinary skill user of fields, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement etc., should be included in the claims in the present invention made by within the spirit and principle of invention
Protection domain within.
Claims (8)
1. a kind of micro-wound operation robot device, which is characterized in that including bend arm and driving mechanism, the bend arm includes：
First bend arm (11), is equipped with the first Flexible element (111), and the top of first Flexible element (111) is equipped with admittedly
Clamp clamps the first connecting portion (14) of (13), and the first connecting portion (14) is connected with the first push-pull rod (112)；
Second bend arm (12) is equipped with the second Flexible element (121), first Flexible element (111) and second bullet
Property unit (121) between be equipped with second connecting portion (15), the second connecting portion (15) is connected with the second push-pull rod (122), institute
The first push-pull rod (112) is stated to be arranged in the second connecting portion (15) and connect with the first connecting portion (14)；
The driving mechanism is connect with first push-pull rod (112) and second push-pull rod (122) respectively, for driving
The first push-pull rod (112) and second push-pull rod (122) push-and-pull are stated, to control first Flexible element (111) and described
Second Flexible element (121) is bent.
2. micro-wound operation robot device according to claim 1, which is characterized in that further include the fixed bend arm
Inner core, the inner core include transmission component, the driving mechanism by the transmission component and first push-pull rod (112) and
Second push-pull rod (122) connection.
3. micro-wound operation robot device according to claim 2, which is characterized in that the transmission component includes first
Thick stick (31) and the first sliding block (41) being threadedly coupled with first leading screw (31), first sliding block (41) push away with described first
Pull rod (112) is fixedly connected, and is rotated by the first leading screw (31) described in the driving mechanisms control, and first sliding block is driven
(41) it pushes and pulls with first push-pull rod (112), is bent with controlling first Flexible element (111).
4. micro-wound operation robot device according to claim 2, which is characterized in that the transmission component further includes second
Leading screw (32) and the second sliding block (42) being threadedly coupled with second leading screw (32), second sliding block (42) and described second
Push-pull rod (122) is fixedly connected, and is rotated by the second leading screw (32) described in the driving mechanisms control, and second sliding block is driven
(42) it pushes and pulls with second push-pull rod (122), is bent with controlling second Flexible element (121).
5. micro-wound operation robot device according to claim 2, which is characterized in that the transmission component further includes third
Leading screw (33) and the third sliding block (43) being threadedly coupled with the third leading screw (33), the third sliding block (43) are connected to drawstring
(431) other end of one end, the drawstring (431) is connect with the clamp (13), and the clamp (13) is equipped with resetting spring
(131), it is rotated by third leading screw (33) described in the driving mechanisms control, drives the third sliding block (43) sliding and described
Drawstring (431) stretches, and the cooperation with the resetting spring (131), to control the folding of the clamp (13).
6. micro-wound operation robot device according to claim 5, which is characterized in that further include control mechanism, described
Be equipped with pressure sensor (432) in three sliding blocks (43), the control mechanism respectively with the pressure sensor (432) and the drive
Motivation structure connects.
7. micro-wound operation robot device according to claim 2, which is characterized in that further include supporting mechanism (6), it is described
Inner core is fixed in shell (61), and the shell (61) is connect with the driving mechanism by gear, and is fixed on the support
In mechanism (6), the driving mechanism drives the shell (61), the inner core and the bend arm common rotation.
8. micro-wound operation robot device according to claim 7, which is characterized in that further include end cap (62), the end
Lid (62) is detachably connected with the shell (61).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810628294.0A CN108742848A (en) | 2018-06-19 | 2018-06-19 | A kind of micro-wound operation robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810628294.0A CN108742848A (en) | 2018-06-19 | 2018-06-19 | A kind of micro-wound operation robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108742848A true CN108742848A (en) | 2018-11-06 |
Family
ID=63978773
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810628294.0A Withdrawn CN108742848A (en) | 2018-06-19 | 2018-06-19 | A kind of micro-wound operation robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108742848A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112426203A (en) * | 2020-11-09 | 2021-03-02 | 北京邮电大学 | Minimally invasive surgery instrument opening and closing device driven by software |
| WO2021037044A1 (en) * | 2019-08-30 | 2021-03-04 | 新加坡国立大学 | Control apparatus for medical instrument |
| WO2022018636A1 (en) * | 2020-07-23 | 2022-01-27 | Cilag Gmbh International | Robotic surgical tool with replaceable carriage |
| WO2022018650A1 (en) * | 2020-07-23 | 2022-01-27 | Cilag Gmbh International | Robotic surgical tool with replaceable carriage |
| WO2022018648A1 (en) * | 2020-07-23 | 2022-01-27 | Cilag Gmbh International | Robotic surgical tool with replaceable carriage |
| WO2022018633A1 (en) * | 2020-07-23 | 2022-01-27 | Cilag Gmbh International | Robotic surgical tool with replaceable carriage |
| CN115122355A (en) * | 2022-07-27 | 2022-09-30 | 上海卓昕医疗科技有限公司 | Medical robot |
| US11751954B2 (en) | 2020-07-23 | 2023-09-12 | Cilag Gmbh International | Robotic surgical tool with translatable drive puck |
| US11832903B2 (en) | 2020-07-23 | 2023-12-05 | Cilag Gmbh International | Robotic surgical tool with replaceable carriage |
| US11974823B2 (en) | 2020-07-23 | 2024-05-07 | Cilag Gmbh International | Robotic surgical tool with drop in instrumentation core |
-
2018
- 2018-06-19 CN CN201810628294.0A patent/CN108742848A/en not_active Withdrawn
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021037044A1 (en) * | 2019-08-30 | 2021-03-04 | 新加坡国立大学 | Control apparatus for medical instrument |
| US11751954B2 (en) | 2020-07-23 | 2023-09-12 | Cilag Gmbh International | Robotic surgical tool with translatable drive puck |
| WO2022018636A1 (en) * | 2020-07-23 | 2022-01-27 | Cilag Gmbh International | Robotic surgical tool with replaceable carriage |
| WO2022018650A1 (en) * | 2020-07-23 | 2022-01-27 | Cilag Gmbh International | Robotic surgical tool with replaceable carriage |
| WO2022018648A1 (en) * | 2020-07-23 | 2022-01-27 | Cilag Gmbh International | Robotic surgical tool with replaceable carriage |
| WO2022018633A1 (en) * | 2020-07-23 | 2022-01-27 | Cilag Gmbh International | Robotic surgical tool with replaceable carriage |
| US11759270B2 (en) | 2020-07-23 | 2023-09-19 | Cilag Gmbh International | Robotic surgical tool with replaceable carriage |
| US11832903B2 (en) | 2020-07-23 | 2023-12-05 | Cilag Gmbh International | Robotic surgical tool with replaceable carriage |
| US11974823B2 (en) | 2020-07-23 | 2024-05-07 | Cilag Gmbh International | Robotic surgical tool with drop in instrumentation core |
| CN112426203B (en) * | 2020-11-09 | 2022-03-15 | 北京邮电大学 | Minimally invasive surgery instrument opening and closing device driven by software |
| CN112426203A (en) * | 2020-11-09 | 2021-03-02 | 北京邮电大学 | Minimally invasive surgery instrument opening and closing device driven by software |
| CN115122355A (en) * | 2022-07-27 | 2022-09-30 | 上海卓昕医疗科技有限公司 | Medical robot |
| CN115122355B (en) * | 2022-07-27 | 2023-05-23 | 上海卓昕医疗科技有限公司 | Medical robot |
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190916 Address after: 518000 No. 3002, Shaanggang West Road, Huafu Street, Futian District, Shenzhen City, Guangdong Province Applicant after: SHENZHEN INSTITUTE OF GERIATRICS Address before: 518035 room 3002, Yinhua building, 823 West Sungang Road, Lianhua street, Shenzhen, Guangdong, Futian District Applicant before: SHENZHEN MINGRUI MEDICAL AUTOMATION CO.,LTD. |
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Application publication date: 20181106 |