CN109091236A - A kind of Minimally Invasive Surgery instrument auxiliary operation arm - Google Patents
A kind of Minimally Invasive Surgery instrument auxiliary operation arm Download PDFInfo
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- CN109091236A CN109091236A CN201711313837.1A CN201711313837A CN109091236A CN 109091236 A CN109091236 A CN 109091236A CN 201711313837 A CN201711313837 A CN 201711313837A CN 109091236 A CN109091236 A CN 109091236A
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- connecting rod
- seat
- instrument
- slide bar
- lifting
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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
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
- A61B34/70—Manipulators specially adapted for use in surgery
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Surgery (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Heart & Thoracic Surgery (AREA)
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- General Health & Medical Sciences (AREA)
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Abstract
The present invention relates to a kind of Minimally Invasive Surgery instrument auxiliary operation arms, which solve operation tool in existing Minimally Invasive Surgery operating process is complicated for operation, flexibility is low, eye hands movement is uncoordinated when doctor operates, the technical issues of shake of doctor's hand will affect surgical quality, it includes connecting rod base, from end link I, from end link II, instrument lifting seat and instrument seat, it is connected from one end of end link I and connecting rod base rotation, connection is rotated with from the other end of end link I from one end of end link II, instrument lifting seat rotates connection with from the other end of end link II, instrument seat is slidably connected with instrument lifting seat.The present invention is widely used in the field of medical instrument technology.
Description
Technical field
The present invention relates to the Medical Devices in the field of medical instrument technology, can clamp operation in particular to one kind
Tool assists doctor to implement the Minimally Invasive Surgery instrument auxiliary system that Minimally Invasive Surgery operates.
Background technique
20th century medical science is known as to one of the significant contribution of human civilization using laparoscope as the minimally invasive surgery of representative,
Minimally Invasive Surgery operation refers to that doctor is insinuated into using elongated operation tool by the miniature incision of human body surface and carries out hand in vivo
Art operation.It is compared with traditional open surgery with operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time is fast
The advantages that, this pain that patient is subjected to greatly reduces；Therefore minimally invasive surgery is widely used in clinical operation.However,
While Minimally Invasive Surgery is that patient brings many interests, a series of difficulties but are brought to the operation of doctor, such as: 1) due to body
The limitation of table aperture, the freedom degree of tool are reduced to four, and flexibility substantially reduces；2) doctor operates direction and desired side
To on the contrary, eye hands movement is uncoordinated, it is easy fatigue；3) doctor can only obtain surgical scene letter by the two dimensional image on monitor
Breath lacks the feeling on depth direction；4) shake of doctor's hand may be amplified by elongated operation tool, cause to operation
Adverse effect；5) lack force feeling.Therefore, doctor, which has to pass through prolonged exercise, can carry out Minimally Invasive Surgery operation, even if such as
This, Minimally Invasive Surgery is also only applied only to operate among relatively simple surgical procedure at present.
Therefore, extend the ability of doctor, there is an urgent need to ancillary equipment in Minimally Invasive Surgery field to overcome above-mentioned lack
Point enables a physician to easier completion Minimally Invasive Surgery operation.
Summary of the invention
The present invention is exactly that operation tool is complicated for operation in existing Minimally Invasive Surgery operating process, flexibility is low in order to solve, doctor
The technical issues of eye hands movement is uncoordinated when raw operation, and the shake of doctor's hand will affect surgical quality provides a kind of operation letter
Single, flexibility ratio is high, it is not easy to cause the Minimally Invasive Surgery instrument auxiliary operation arm of doctor's fatigue.
The present invention provides a kind of Minimally Invasive Surgery instrument auxiliary operation arm, including connecting rod base, from end link I, from end link II,
Instrument lifting seat and instrument seat are connected from one end of end link I and connecting rod base rotation, from one end of end link II with from end link
The other end of I rotates connection, and instrument lifting seat rotates connection with from the other end of end link II, and instrument seat and instrument lifting seat are sliding
Dynamic connection.
Further preferably technical solution is that auxiliary operation arm includes from end group seat, and connecting rod base rotates company with from end group seat
It connects.
Further preferably technical solution is that auxiliary operation arm further includes from hand first motor, connecting rod driving motor, first
Connecting rod, second connecting rod, third connecting rod, fourth link and instrument lifting motor, are connected to from end group seat from hand first motor, from
The output shaft of hand first motor is connected with rotation connecting shaft by transmission mechanism, and the top for rotating connecting shaft and connecting rod base connects；
Connecting rod driving motor is connected to the top of connecting rod base, and first connecting rod and second connecting rod are connected to from end link I, third connecting rod and
Fourth link is connected to from end link II；One end of first connecting rod is connected by the lower part of bearing and connecting rod base, the other end with
The top rotation of fourth link is connected；One end of the second connecting rod is connected by the lower part of bearing and connecting rod base, and the other end is logical
Bearing is crossed to be connected with the rotation of the middle part upper position of third connecting rod；The top of third connecting rod passes through the middle part of bearing and first connecting rod
Position rotation of keeping right is connected, and the bottom end of third connecting rod is connected with the rotation of instrument lifting seat；The bottom end of fourth link and instrument are gone up and down
Seat rotation is connected；Connecting rod driving motor is connected by the bearing installation end of transmission mechanism and first connecting rod；Connect on instrument lifting seat
It is connected to the linear mould group of lifting, instrument seat is connect with linear mould group is gone up and down, and the instrument lifting motor is connect with linear mould group is gone up and down.
Further preferably technical solution is that the transmission mechanism between connecting rod driving motor and first connecting rod includes that connecting rod drives
Movable belt pulley, from hand-drive synchronous belt and connecting rod belt wheel, from hand-drive synchronous belt be connected to connecting rod driving pulley and connecting rod belt wheel it
Between, the output axis connection of connecting rod driving pulley and connecting rod driving motor, the bearing installation end connection of connecting rod belt wheel and first connecting rod；
Connecting rod base, first connecting rod, second connecting rod, third connecting rod form a parallelogram, and first connecting rod, third connect
Bar, fourth link and instrument lifting seat form a parallelogram.
Further preferably technical solution is, instrument lifting seat it is parallel with from end link I, from end link II and connecting rod base
Rotation axis direction it is parallel.
Further preferably technical solution is that go up and down linear mould group include instrument driving lead screw and instrument drive seat, instrument
Driving lead screw both ends are connected on instrument lifting seat by bearing, and the nut in instrument drive seat and instrument driving lead screw is fixed to be connected
It connects, the instrument seat is fixedly connected with instrument drive seat, and the instrument lifting motor is connect with instrument driving lead screw.
Further preferably technical solution is connected from the output shaft of hand first motor by bevel gear pair and rotation connecting shaft
It connects.
Further preferably technical solution is to be connected with translating device from end group seat.
Further preferably technical solution is that translating device includes quadrangle fixing seat, quadrangle middle base, quadrangle end
End seat, the first passive connecting rod, the second passive connecting rod, the passive connecting rod of third and the 4th passive connecting rod, the first passive connecting rod and
Second passive length of connecting rod is equal, and the passive connecting rod of third and the 4th passive length of connecting rod are equal；The first passive connecting rod and
One end of two passive connecting rods is respectively rotatably connected in quadrangle fixing seat, and the other end is respectively rotatably connected in quadrangle
Between on seat；One end of the passive connecting rod of the third and the 4th passive connecting rod is respectively rotatably connected in quadrangle middle base, separately
One end is respectively rotatably connected to quadrangle end seat；The first band-type brake of quadrangle is connected in the quadrangle fixing seat, it is described
The second band-type brake of quadrangle is connected in quadrangle middle base；The quadrangle end seat is fixedly connected with from end group seat.
Further preferably technical solution is that translating device is connected with lifting device, and lifting device includes lifting seat, cunning
Bar, ball-screw and assist motor, ball-screw are connected on lifting seat, and ball-screw nut is connected on ball-screw, sliding
Bar is fixedly connected with ball-screw nut, and the output shaft of assist motor is connect with ball-screw, and quadrangle fixing seat and slide bar are solid
Fixed connection.
Further preferably technical solution is that translating device is connected with lifting device, and lifting device includes lifting seat, slide bar
With the synchronous belt drive mechanism being disposed vertically, the synchronous belt drive mechanism being disposed vertically is connected on lifting seat, during slide bar passes through
Between connector be fixedly connected with the synchronous belt on the synchronous belt drive mechanism being disposed vertically；Quadrangle fixing seat and the fixed company of slide bar
It connects.
Further preferably technical solution is that translating device is connected with lifting device, and lifting device includes lifting seat, cunning
Bar, sprocket wheel, chain and counterweight, sprocket wheel are connected on lifting seat, and one end of chain is connected by connector with the top of slide bar, separately
One end is fixedly linked after being oriented to sprocket wheel with counterweight top, and the gravity of slide bar and its respective ends load is equal with counterweight；Institute
Quadrangle fixing seat is stated to be fixedly connected with slide bar.
Further preferably technical solution is, translating device include main side slide bar end, passive connecting rod I, the first fixed pulley,
Second fixed pulley, the first rotation belt wheel, the second rotation belt wheel, the first synchronous toothed belt and the second synchronous toothed belt；Passively connect
One end of bar I is connect by bearing with main side slide bar end, and the other end is connected with hollow shaft；It is connected with inside hollow shaft by bearing
One end of connecting shaft, passive connecting rod II is fixedly connected with connecting shaft；First fixed pulley is connect with main side slide bar end, and second is fixed
The bottom of the connection of the top of belt wheel and hollow shaft, the first rotation belt wheel and hollow shaft connects, and the second rotation belt wheel passes through axis
Hold and connect with the other end of passive connecting rod II, the first synchronous toothed belt be connected to the first rotation belt wheel and the first fixed pulley it
Between, the second synchronous toothed belt is connected between the second rotation belt wheel and the second fixed pulley；The connecting shaft is connected with second armful
Lock, the passive connecting rod I is connected with the first band-type brake, described to be fixedly connected from end group seat with the second rotation belt wheel.
Further preferably technical solution is that translating device is connected with lifting device, and lifting device includes lifting seat, cunning
Bar, ball-screw and assist motor, the ball-screw are connected on lifting seat, and ball-screw spiral shell is connected on ball-screw
Mother, the slide bar are fixedly connected with ball-screw nut, and the output shaft of the assist motor is connect with ball-screw, the main side
Slide bar end is fixedly connected with slide bar.
Further preferably technical solution is, translating device is connected with lifting device, the lifting device include lifting seat,
Slide bar and the synchronous belt drive mechanism being disposed vertically, the synchronous belt drive mechanism being disposed vertically are connected on lifting seat, institute
Slide bar is stated to be fixedly connected by intermediate connector with the synchronous belt on the synchronous belt drive mechanism being disposed vertically；The main side slide bar
End is fixedly connected with slide bar.
Further preferably technical solution is that translating device is connected with lifting device, and lifting device includes lifting seat, cunning
Bar, sprocket wheel, chain and counterweight, the sprocket wheel are connected on lifting seat, and one end of the chain passes through the top of connector and slide bar
Portion is connected, the other end through being oriented to sprocket wheel after be fixedly linked at the top of counterweight, the gravity that slide bar and its respective ends load with match
It is again equivalent；Main side slide bar end is fixedly connected with slide bar.
Compared with the prior art, the invention has the following beneficial effects:
(1) present invention can be combined with conventional Minimally Invasive Surgery instrument/equipment, reduce operation cost, with small in size, again
The advantages that light, easy to use, flexibility is high is measured, can reduce surgical fatigue, and guarantee surgical quality.
(2) will not there is a situation where the shakes of doctor's hand by elongated operation tool amplification, guarantee the steady of surgical procedure
It is qualitative.
(3) present invention uses modularized design, mountable a plurality of types of high flexibility surgical instruments, in minimally invasive constraint item
Complicated operation operation is set to become simple under part.
Further aspect of the present invention is clearly stated that in the description of following specific embodiments.
Detailed description of the invention
Fig. 1 is Minimally Invasive Surgery instrument auxiliary system general illustration of the invention；
Fig. 2 is the locking structure schematic diagram of Minimally Invasive Surgery instrument auxiliary system middle cross beam rotary motion；
Fig. 3 is the attachment structure schematic diagram between Minimally Invasive Surgery instrument auxiliary system middle cross beam and telescopic rod；
Fig. 4 be in Minimally Invasive Surgery instrument auxiliary system main side slide bar or from end slide bar and lifting seat connection structure illustrate
Figure；
Fig. 5 is the alternative scheme structural schematic diagram of Minimally Invasive Surgery instrument auxiliary system end lifting structure, and (a) indicates skin
Tape handler provides the structure of power, (b) indicates the structure that lifting is realized using counterweight mode；
Fig. 6 is Minimally Invasive Surgery instrument auxiliary system doctor operating side and instrumentation end schematic layout pattern；
Fig. 7 is pure flat shifting passive arm embodiment schematic diagram of the Minimally Invasive Surgery instrument auxiliary system based on toothed belt transmission；
Fig. 8 is the locking mechanism schematic diagram of the passive connecting rod II of the pure flat shifting passive arm based on toothed belt transmission；
Fig. 9 is the attachment structure schematic diagram of main side connecting rod and wrist slide in Minimally Invasive Surgery instrument auxiliary system；
Figure 10 is the structural schematic diagram of main hand wrist, and (a) indicates the figure of positive angle, (b) indicate posterior view point
Figure；
Figure 11 is the structural schematic diagram of the passive arm link form of Minimally Invasive Surgery instrument auxiliary system pure translational；
Figure 12 is the schematic diagram that structure shown in Figure 11 meets translational motion；
Figure 13 is the structural schematic diagram of Minimally Invasive Surgery instrument auxiliary system doctor's motion arm coupled links form；
Figure 14 is the constraint condition schematic diagram that two pivot links realize pure linear motion in Figure 13；
Figure 15 is the Kinematic Decomposition schematic diagram of structure shown in Figure 13.
Figure 16 is Minimally Invasive Surgery instrument auxiliary system instrumentation arm totality rotational structure schematic diagram；
Figure 17 is the structural schematic diagram of Minimally Invasive Surgery instrument auxiliary system instrumentation arm；
Figure 18 is the schematic diagram that instrumentation end meets that Minimally Invasive Surgery operation requires；
Figure 19 is the schematic diagram under instrumentation arm folded state；
Figure 20 is the structural schematic diagram for the embodiment based on link transmission that instrumentation arm uses；
Figure 21 is the schematic diagram of multiple degrees of freedom surgical instrument used by Minimally Invasive Surgery instrument auxiliary system；
Figure 22 is that Minimally Invasive Surgery instrument auxiliary system combines auxiliary operation schematic layout pattern with existing mis instruments；
Figure 23 is the schematic diagram that doctor implements surgical procedure using Minimally Invasive Surgery instrument auxiliary system.
Symbol description in figure:
1. pedestal, 2. columns, 3. crossbeams, 4. telescopic rods, 5. lifting seats, 6. main side slide bars, 7. from end slide bar, 100. doctors
Operating side, 200. instrumentation ends, 21. crossbeam band-type brakes, 30. guide rails, 31. guide rail slide blocks, 32. rack gears, 33. gears, 51. power-assisteds
Motor cabinet, 52. assist motors, 53. band-type brakes, 54. ball-screw seats, 55. ball-screws, 56. ball-screw nuts, 57. splines
Seat, 501. assist motors, 502. synchronous pulleys, 503. synchronous pulleys, 504. band-type brakes, 505. synchronous belts, 506. connectors, 507.
Chain, 508. sprocket wheels, 509. counterweights, 101. passive connecting rod I, 102. passive connecting rod II, 103. main side connecting rods, 104. wrists are sliding
Seat, 105. main hand wrists, 201. from end group seat, 202. connecting rod bases, and 203. from end link I, and 204. from end link II, 205. instruments
Seat, 206. instrument lifting seats, 207. surgical instruments, 208. long axis, 1010. main side slide bar ends, 1011. first band-type brakes, 1012. the
One synchronous toothed belt, 1013. first fixed pulleys, 1014. first rotation belt wheels, 1015. hollow shafts, 1016. connecting shafts,
1021. second band-type brakes, 1022. second synchronous toothed belts, 1023. second fixed pulleys, 1024. second rotation belt wheels, 90. main hands
First motor, 91. main hand connecting rod flanges, 1031. main hand synchronous belts, 1032. main the second motors of hand, 1041. main hand lead screws,
1042. main hand guide rails, 1043. wrist seats, the fixed connecting rod of 1051. wrists, 1052. wrist connecting rod I, 1053. wrist connecting rod II,
1054. folding seats, 1055. operation handles, 1056. wrist first motors, 1057. the second motors of wrist, 1058. wrist third electricity
Machine, 1059. bevel gears, 1060. bevel gears, 1061. bevel gears, 1062. flute profile joint faces, 80. new main side slide bar ends, 81. 4
Side shape fixing seat, 82. quadrangle middle bases, 83. quadrangle ends seat, 84. first passive connecting rods, 85. second passive connecting rods,
86. the passive connecting rod of third, 87. the 4th passive connecting rods, 88. the first band-type brakes of quadrangle, 89. the second band-type brakes of quadrangle, 140. deflections
Connecting rod, 141. first coupled links, 142. second coupled links, 143. main hands lifting assist motors, 144. rotation axis, 145.
Straight line, 146. straight lines, 147. big coupling belt wheels, 148. small coupling belt wheels, 149. coupling synchronous belts, 2011. from hand first motor,
2012. bevel pinions, 2013. rotation connecting shafts, 2014. bevel gear wheels, 2020. from hand-drive belt wheel, 2021.2021. connecting rod
Driving motor, 2022. connecting rod driving pulleys, 2023. from hand-drive synchronous belt, 2024. connecting rod belt wheels, 2025. first connecting rods,
2026. second connecting rods, 2027. third connecting rods, 2028. fourth links, 2029. rotate belt wheel from hand first, and 2030. from hand first
Fixing axle, 2031. from the first synchronous belt of hand, and 2032. rotate belt wheel from hand second, and 2033. from the second fixing axle of hand, 2034. from
The first fixed pulley of hand, 2041. rotate band from hand third from the second fixed pulley of hand, 2043. from the second synchronous belt of hand, 2042.
Wheel, 2044. intermediate transit parts, 2060. linear mould groups, 2061. instruments drive lead screw, 2062. instrument drive seats, 2063. instruments
Lifting spline, 2064. instrument lifting motors, 280. fixed points, 290. boundaries, 11. operating beds, 12. patients, 13. endoscopes,
14. endoscope point of puncture, 15. common hysteroscope instruments, 16. hysteroscope instrument points of puncture, 17. auxiliary system points of puncture, 18. doctors,
19. monitor.
Specific embodiment
Referring to the drawings, with specific embodiment, invention is further described in detail.
As shown in Figure 1, Minimally Invasive Surgery instrument auxiliary system includes pedestal 1, the column 2 that can be gone up and down on pedestal 1, with column
The connected crossbeam 3 of 2 rotations, the telescopic rod 4 that can be moved horizontally on crossbeam 3 are rotatably mounted to telescopic rod 4 by rotary joint
The lifting seat 5 of end, and can be realized on lifting seat 5 elevating movement main side slide bar 6 and from end slide bar 7, the slide bar 6 in main side
End is fixedly connected with doctor operating side 100, is being fixedly connected with instrumentation end 200 of the invention from end 7 end of slide bar.
Elevating movement of the column 2 on pedestal 1 is active movement, can be used lead screw-guide rail under hydraulic or motor driven,
The embodiments such as lead screw-spline, gear-tooth item.Crossbeam 3 is the quilt that can be driven in the reverse direction manually relative to the rotary motion of column 2
Dynamic movement, one of specific structure as shown in Fig. 2, the crossbeam band-type brake 21 being installed in column 2 can realize to crossbeam 3 relative to
The locking of the rotary motion of column 2, doctor is triggered by modes such as buttons in use process, make crossbeam band-type brake 21 electric release,
And then movement of the crossbeam 3 relative to column 2 can be rotated freely through manually.The moving horizontally as can hand on crossbeam 3 of telescopic rod 4
The dynamic passive movement being driven in the reverse direction, a kind of the specific structure is shown in FIG. 3, and rack gear 32 is fixedly connected on 3 inside bottom side of crossbeam, leads
Rail 30 is fixedly connected on 3 inner top side of crossbeam, and telescopic rod 4 is fixedly connected on the guide rail slide block 31 that can be slided on guide rail 30,
Gear 33 is rotatably mounted to one end of telescopic rod 4 and is meshed with rack gear 32, and the rotation of gear 33 can be fixed on telescopic rod
Interior band-type brake locks, and doctor is triggered by modes such as buttons in use process, and the band-type brake for being used in lock gear 33 unclamps, in turn
Telescopic rod 4 can move linearly under the constraint of guide rail 30；Except embodiment shown in Fig. 3, telescopic rod 4 is on crossbeam 3
Move horizontally the embodiments such as the lead screw-guide rail, lead screw-spline, gear-tooth item that also can be used under hydraulic or motor driven；It rises
Drop seat 5 is also the passive movement that can be driven in the reverse direction manually relative to the rotary motion of telescopic rod 4, and embodiments thereof can be used and cross
The mode similar relative to the rotary motion of column 2 of beam 3.
Main side slide bar 6 or from end slide bar 7 relative to the elevating movement of lifting seat 5 be also the passive fortune that can be driven in the reverse direction manually
It is dynamic, implementation as shown in Figure 4 (component of label 6 (7) meaning in Fig. 4 be main side slide bar 6 or from holding slide bar 7), main side
Slide bar 6 is all made of spline structure with from end slide bar 7, and spline fitting 57 is fixedly installed on lifting seat 5, main side slide bar 6 or from end
7 top of slide bar is fixedly linked with ball-screw nut 56 by connector, and ball-screw seat 54 is fixedly connected on lifting seat 5
Portion is installed in the centre bore of ball-screw seat 54 at the top of ball-screw 55 by bearing rotary, is fixedly installed in ball wire
Band-type brake 53 on 54 end face of thick stick seat can lock the rotation of ball-screw 55.Assist motor 52 is mounted on by assist motor seat 51
The top on 5 top of lifting seat, ball-screw 55 is connected by shaft coupling with the output shaft of assist motor 52；In use, doctor is logical
External drive is crossed, band-type brake 53 is made to obtain electric release, ball-screw 55 can rotate, while assist motor 52 obtains the constant torsion of electricity output
Square, the torque are converted to the upward lift by ball-screw nut 56 by ball-screw 55；For doctor operating side, rolling
The lift that screw nut 56 provides is equal with the whole gravity that main side slide bar 6 and doctor operating side 100 form, to exercises on apparatus
For making end, the lift that ball-screw nut 56 provides is equal with the gravity formed from end slide bar 7 and instrumentation end 200；This
Sample doctor just will not experience the influence of gravity when being operated manually to doctor operating side 100 or instrumentation end 200,
And then it ensure that the lightness of manual operation.
In addition to lead screw-spline structure shown in Fig. 4, main side slide bar 6 or the lifting from end slide bar 7 relative to lifting seat 5 are transported
Dynamic to be realized by two kinds of embodiments shown in fig. 5, (component of label 6 (7) meaning in Fig. 5 is as shown in Fig. 5 (a)
Main side slide bar 6 or from end slide bar 7), synchronous pulley 502 and synchronous pulley 503 are rotationally mounted on lifting seat 5, synchronous pulley
502 can be driven by assist motor 501, and synchronous pulley 503 can be locked by band-type brake 504, and main side slide bar 6 is all made of with from end slide bar 7
Spline structure, spline fitting 57 are fixedly installed on lifting seat 5, main side slide bar 6 or from end slide bar 7 at the top of pass through intermediate connector
It is fixedly linked with 505 straight-line movement portion of synchronous belt；In this way, in use, doctor makes band-type brake 504 obtain electric pine by external drive
Open, at the same assist motor 502 electricity output constant-torque, the torque by synchronous pulley 502 are converted into main side slide bar 6 or from ends
Slide bar 7 and its equivalent lift of respective ends load gravity.As shown in Fig. 5 (b), main side slide bar 6 is all made of flower with from end slide bar 7
Bond structure, spline fitting 57 are fixedly installed on lifting seat 5, and sprocket wheel 508 is rotationally mounted to 5 top of lifting seat, chain 507
One end is connected by connector 506 and main side slide bar 6 or from the top of end slide bar 7, the other end through with after the guiding of sprocket wheel 508 with match
It weighs and is fixedly linked at the top of 509, sprocket wheel 508 can be locked by band-type brake；In this way, using Shi doctor by external drive, it is used in locking
The gravity etc. that the band-type brake of sprocket wheel 508 obtains electric release, counterweight 509 and main side slide bar 6 or loads from end slide bar 7 and its respective ends
Together, such doctor just will not experience gravity when being operated manually to doctor operating side 100 or instrumentation end 200
It influences, and then ensure that the lightness of manual operation.In addition to the specific structure shown in Fig. 4, Fig. 5, end lifting of the present invention can also be adopted
With gear-tooth item or the structures such as hydraulic, details are not described herein for detailed construction.
Fig. 6 show the layout of Minimally Invasive Surgery instrument auxiliary system doctor operating side and instrumentation end, doctor operating side
100 are mounted on the bottom of main side slide bar 6 integrally fixed, and one end of passive connecting rod I101 is rotationally mounted to 6 bottom of main side slide bar
End, rotation axis are consistent with gravity direction；One end of passive connecting rod II102 is rotationally mounted to the another of passive connecting rod I101
End, rotation axis are consistent with gravity direction；Main side connecting rod 103 is rotationally mounted to the other end of passive connecting rod II102, rotation
Shaft axis is consistent with gravity direction；Wrist slide 104 is rotationally mounted to the lower part of main side connecting rod 103, rotation axis with again
Power direction is vertical；Main hand wrist 105 is slidably mounted on wrist slide 104.Instrumentation end 200 is by from end group seat 201
One end be fixedly mounted in from end 7 bottom of slide bar, connecting rod base 202 is rotationally mounted to the other end from end group seat 201, revolves
Shaft axis is consistent with gravity direction；The bottom of connecting rod base 202 is rotationally mounted to from one end of end link I203, from end link
One end of II204 is mounted on the other end from end link I203, and instrument lifting seat 206 is mounted on from the another of end link II204
End, instrument seat 205 are slidably mounted on instrument lifting seat 206, the mountable top in instrument seat 205 of surgical instrument 207.It is auxiliary
When assistant's art, doctor's right hand can hold the dependency structure of main hand wrist 105 Xiang 100 input motion of doctor operating side, while instrument
Operating side 200 can under the control of peripheral control unit real-time tracking doctor operating side 100 movement；The features of the present invention includes,
Glide direction of the main hand wrist 105 that can be operated by doctor on wrist slide 104 and instrument seat 205 are in instrument lifting seat 206
On glide direction remain parallel during the motion.Realize that the specific embodiment of feature of present invention is as follows.
Fig. 7 show Minimally Invasive Surgery instrument auxiliary system of the invention to be implemented based on the pure flat shifting passive arm of toothed belt transmission
Scheme, main side slide bar end 1010 are fixedly attached to the bottom of main side slide bar 6, are cased with bearing in 1010 lower part of main side slide bar end,
Then 1010 bottom of main side slide bar end is fixedly connected with the first fixed pulley 1013；One end of passive connecting rod I101 is revolvably installed
On the bearing in 1010 lower part of main side slide bar end, the first band-type brake 1011 can lock passive connecting rod I101 and main side slide bar end
1010 relative rotation.There is the sky by bearing rotary being mounted on passive connecting rod I101 in the other end of passive connecting rod I101
Mandrel 1015, as shown in figure 8, being fixedly installed with the second fixed pulley 1023 at the top of hollow shaft 1015, bottom is fixedly installed with
First rotation belt wheel 1014, the first rotation belt wheel 1014 pass through 1012 phase of the first synchronous toothed belt with the first fixed pulley 1013
Connect, as shown in fig. 7, such hollow shaft 1015 is pure translational relative to the movement at main side slide bar end 1010.In hollow shaft 1015
There is the connecting shaft 1016 installed by bearing rotary in portion, and one end of passive connecting rod II102 is fixedly attached to connection by screw
The top of axis 1016, connecting shaft 1016 can be by being mounted on passive connecting rod I101 relative to the rotary motion of hollow shaft 1015
The locking of second band-type brake 1021；Second rotation belt wheel 1024 is mounted on the other end of passive connecting rod II102, the second rotation by bearing
Belt wheel 1024 is connected with the second fixed pulley 1023 by the second synchronous toothed belt 1022, and such second rotation belt wheel 1024 is opposite
In the second fixed pulley 1023 movement be pure translational, and then it follows that second rotation belt wheel 1024 relative to main side slide bar
1010 movement is pure translational.Main hand first motor 90, main hand first motor are fixedly installed on the second rotation belt wheel 1024
90 output shaft is connected by shaft coupling with the drive shaft being mounted in the second rotation belt wheel 1024 by bearing rotary, the drive
Moving axis bottom is fixedly linked by main hand connecting rod flange 91 with main side connecting rod 103.In this way, when main hand first motor 90 remains a certain
When position, then have: 1) when first band-type brake 1011 and second band-type brake 1021 lock, main side connecting rod I101, main side connecting rod II102,
First rotation belt wheel 1014, second rotates belt wheel 1024 and is locked, and main side connecting rod 103 will be unable to move；2) when the first band-type brake
1011 and second band-type brake 1021 unclamp when, main side connecting rod I101, main side connecting rod II102, first rotation belt wheel 1014, second rotate
Belt wheel 1024 unclamps, and with the movement of main side connecting rod I101 and main side connecting rod II102, main side connecting rod 103 will be relative to main side
Slide bar end 1010 will do pure translational；When the first band-type brake 1011 and the second band-type brake 1021 lock, and main hand first motor 90 rotates,
Main side connecting rod 103 will be rotated relative to the second rotation belt wheel 1024 along the direction perpendicular to the earth.When operator holds main hand hand
When wrist 105 rotates main side connecting rod 103 relative to passive connecting rod II102, main hand first motor 90 will generate motor message.
Fig. 9 show the embodiment of doctor's motion arm of the present invention, and wrist slide 104 is rotationally mounted to main side connecting rod
103 lower part, wrist slide 104 can be installed in second electricity of main hand on 103 top of main side connecting rod by main hand synchronous belt 1031
Machine 1032 drives.Main hand lead screw 1041 and main hand guide rail 1042 be installed in 104 interior parallel of wrist slide, wrist seat 1043 with
The sliding block of main hand guide rail 1042 is fixedly linked, and is fixedly linked with the nut of main hand lead screw 1041；In this way, working as main hand lead screw 1041
When moving under the output shaft driving of main hand third motor, it is sliding that wrist seat 1043 will make straight line under the constraint of main hand guide rail 1042
Dynamic, then the main hand wrist 105 being fixedly mounted on wrist seat 1043 will also make linear slide.When operator holds main hand wrist
105 when moving in a straight line wrist seat 1043, and main hand third motor will generate motor message.When operator holds main hand wrist
105 when making lower rotational of the wrist slide 104 relative to main side connecting rod 103, and main the second motor of hand 1032 will generate movement letter
Number.
Figure 10 (a), (b) show the embodiment of main hand wrist 105 of the present invention, and the wrist with L shape is solid
Determine connecting rod 1051 to be fixedly linked by the flute profile joint face 1062 of upper part with wrist seat 1043, the wrist connecting rod with L shape
One end of I1052 is mounted on the bottom of the fixed connecting rod 1051 of wrist by bearing rotary, and wrist connecting rod I1052 can pass through installation
Wrist first motor 1056 in fixed 1051 bottom surface of connecting rod of wrist is driven by bevel gear 1060；Wrist with L shape connects
One end of bar II1053 is mounted on the top of wrist connecting rod I1052 by bearing rotary, and wrist connecting rod II1053 can pass through peace
The second motor of wrist 1057 loaded on the side wrist connecting rod I1052 is driven by bevel gear 1059；Folding seat 1054 passes through bearing
It is rotationally mounted to the other end of wrist connecting rod II1053, folding seat 1054 can be by being installed on the bottom surface wrist connecting rod II1053
Wrist third motor 1058 is driven by bevel gear 1061；The folding angle for opening and closing seat 1054 can be by installing biography inside it
Sensor measurement obtains.Operation handle 1055 is fixedly installed with by driving end in wrist connecting rod II1053, operator can be by holding
Firmly operation handle 1055 operates entire doctor operating side 100, and doctor, which holds operation handle 1055, makes wrist connecting rod I1052
Rotation, wrist first motor 1056 will generate motor message；Doctor, which holds operation handle 1055, turns wrist connecting rod II1053
Dynamic, the second motor of wrist 1057 will generate motor message；Doctor holds the finger of operation handle 1055 and rotates folding seat 1054,
Wrist third motor 1058 will generate motor message.The fixed connecting rod 1051 of the wrist of L shape be equipped with for in Figure 13
The mounting groove 1063 that second coupled links 142 are fixedly connected.
It is mounted on the main hand first motor 90 of doctor operating side 100, the second motor of main hand 1032, is connected to main hand lead screw
Main hand third motor, wrist first motor 1056, the second motor of wrist 1057, wrist third motor 1058 on 1041 are provided with
Encoder, for feeding back the movement angle of each motor；Doctor operating side 100 is motion input device, and doctor can be by holding behaviour
Make handle 1055 to be operated, the motion information of each motor encoder record doctor's hand, peripheral control unit is according to motion information
Realize the motion control to instrumentation end 200.
Except the embodiment shown in Fig. 7 based on toothed belt transmission, the pure flat shifting passive arm of doctor operating side 100 can also be adopted
With embodiment as shown in figure 11, new main side slide bar end 80 be can be fixedly mounted on main side slide bar 6, quadrangle fixing seat 81
It is fixedly attached on new main side slide bar end 80, the rotation respectively of the first of equal length passive connecting rod 84 and the second passive connecting rod 85
It is mounted in quadrangle fixing seat 81 with turning, the other end of the first passive connecting rod 84 and the second passive connecting rod 85 is respectively rotatably pacified
In quadrangle middle base 82, quadrangle fixing seat 81, the first passive connecting rod 84, the second passive connecting rod 85, among quadrangle
Seat 82 constitutes parallelogram.The first band-type brake of quadrangle of the passive connecting rod 85 of lockable second is installed in quadrangle fixing seat 81
88, when the first band-type brake of quadrangle 88 locks, the second passive connecting rod 85 and quadrangle fixing seat 81 are without relative motion, in quadrangle
Between the position of seat 82 will also fix；When the first band-type brake of quadrangle 88 unclamps, the second passive connecting rod 85 can be solid relative to quadrangle
Reservation 81 rotates, and quadrangle middle base 82 will be made pure flat relative to quadrangle fixing seat 81 under the constraint for being formed by quadrangle
It is dynamic.It is passive in the passive connecting rod 86 and the 4th of third that the other end of quadrangle middle base 82 is respectively rotatably equipped with equal length
The other end of connecting rod 87, the passive connecting rod 86 of third and the 4th passive connecting rod 87 is respectively rotatably connected with quadrangle end seat 83,
The passive connecting rod 86 of quadrangle middle base 82, third, the 4th passive connecting rod 87, quadrangle end seat 83 constitute parallelogram.?
The second band-type brake of quadrangle 89 that the passive connecting rod 86 of lockable third is installed in quadrangle middle base 82, when the second band-type brake of quadrangle 89
When locking, with quadrangle middle base 82 without relative motion, the position of quadrangle end seat 83 will also be fixed the passive connecting rod 86 of third；
When the second band-type brake of quadrangle 89 unclamps, the passive connecting rod 86 of third can be rotated relative to quadrangle middle base 82, be formed by
Quadrangle end seat 83 will make pure translational relative to quadrangle middle base 82 under the constraint of quadrangle；When quadrangle first
When band-type brake 88 and the second band-type brake 89 lock simultaneously, the position of quadrangle end seat 83 will be irremovable；When the first band-type brake of quadrangle
88 and second band-type brake 89 when unclamping simultaneously, quadrangle end seat 83 can make pure translational, such as Figure 12 relative to quadrangle fixing seat 81
It is shown, when quadrangle end seat 83 is moved to the position n from the position m, due to the constraint of parallelogram, so that quadrangle end
Seat 83 is relative to quadrangle fixing seat 81 without any rotary motion, only translational motion.It can consolidate on quadrangle end seat 83
Dingan County fills main hand first motor 90, which can drive main side connecting rod 103 by main hand connecting rod flange 91.
In addition to the embodiment of doctor's motion arm shown in Fig. 9, doctor's motion arm can also be using shape as shown in fig. 13 that
Formula, deflection connecting rod 140 be mounted on by bearing rotary main side connecting rod 103 lower part (144 indicate deflect connecting rods 140 relative to
The axis that main side connecting rod 103 rotates), and can be by the belt wheel that is fixed thereon by main the second motor of hand 1032 and main hand synchronous belt
1031 drivings；One end of first coupled links 141 is rotationally mounted to deflection 140 lower part of connecting rod, and may be mounted to that deflection connects
Main hand lifting assist motor 143 on bar 140 drives, and passes through bearing and second company of coupling in the lower end of the first coupled links 141
One end rotation of bar 142 is connected, and is fixedly installed with main hand wrist 105 in the other end of the second coupled links 142；First coupling connects
Bar 141 and the second coupled links 142 are made by specific constraint condition when the first coupled links 141 and the second coupled links
When 142 movement, main hand wrist 105 makes linear motion, and the constraint condition is as shown in figure 14, and the big belt wheel 147 that couples fixedly is pacified
Mounted in the lower part of deflection connecting rod 140, small coupling belt wheel 148 is fixedly attached in the second coupled links 142, and is coupled with second
Connecting rod 142 passes through one end for being installed on the first coupled links 141 of bearing rotary together, big to couple belt wheel 147 and small strap
Wheel 148 is connected by coupling synchronous belt 149, and coupling belt wheel 147 greatly with the small transmission ratio coupled between belt wheel 148 is 2, the first coupling
Close the equal length of connecting rod 141 and the second coupled links 142；Under such constraint condition, the achievable fortune of doctor's motion arm
It is dynamic as shown in figure 15, when main hand lifting assist motor 143 maintains motionless and main the second motor of hand 1032 movable, the first coupling
Connecting rod 141 can not be rotated relative to deflection connecting rod 140, and the second coupled links 142 can not also be revolved relative to the first coupled links 141
Turn, at this point, main hand wrist 105 is only swung with deflection connecting rod 140, as shown in Figure 15 (a)；When main hand lifting assist motor 143 can
When with movement, main the second motor of hand 1032 remains motionless, deflection connecting rod 140 will remain motionless, and the first coupled links 141 can
It is rotated relative to deflection connecting rod 140, the second coupled links 142 can also be rotated relative to the first coupled links 141, due to coupling greatly
Belt wheel 147, small coupling belt wheel 148 and the effect of contraction for coupling synchronous belt 149, main hand wrist 105 only can be along Figure 15 (b) at this time
Shown in straight line 146 do reciprocating linear motion.This feature has mechanism shown in Figure 13 and mechanism shown in Fig. 9 to be equal
Effect and performance.That is, the motor message that main hand lifting assist motor 143 generates has reacted main 105 straight line of hand wrist
Movement generates motor message with hand third motor main in Fig. 9 and is equal.
Main hand lifting assist motor 143 is equipped with the encoder for feeding back the movement angle of motor.
Figure 16 show a kind of embodiment that instrumentation arm of the present invention totally rotates, and fixedly pacifies from end group seat 201
Mounted in the lower end from end slide bar 7, rotation connecting shaft 2013 is rotationally mounted to from end group seat 201 vertically by bearing, from hand
First motor 2011 can drive bevel pinion 2012 to rotate, with the bevel gear wheel 2014 that is fixedly connected of rotation connecting shaft 2013 with it is small
Bevel gear 2012 engages, and then rotation connecting shaft 2013 can be driven to rotate from hand first motor 2011.
It should be noted that can be connected to from end group seat 201 by translating device shown in earlier figures 7 and Figure 11 from end
Slide bar 7 makes tool motion arm realize translation.Specifically, for translating device shown in Figure 11, make from end group seat 201 and quadrangle
End seat 83 is fixedly connected, and is fixedly mounted in new main side slide bar end 80 from the slide bar 7 of end.It is filled for translation shown in Fig. 7
It sets, main side slide bar end 1010 is made to be fixedly attached to the bottom from end slide bar 7, make from end group seat 201 and the second rotation belt wheel
1024 are fixedly connected.
Figure 17 show a kind of embodiment of the instrumentation arm of the present invention based on toothed belt transmission, and instrumentation arm is in perpendicular
Histogram is to arrangement, it may be assumed that 202 top of connecting rod base is fixedly linked with rotation connecting shaft 2013, when rotating from hand first motor 2011, just
Instrument motion arm can be driven to rotate along the rotation axis perpendicular to the earth；202 structure of connecting rod base is in inverted L shape, is installed at the top of it
Have a connecting rod driving motor 2021, connecting rod driving motor 2021 can drive be rotationally mounted on connecting rod base 202 from hand-drive band
Wheel 2020 is fixedly installed with from the first fixing axle of hand 2030 in 202 bottom of connecting rod base, rotates belt wheel 2029 from hand first and pass through axis
It holds and is rotationally mounted to from the first fixing axle of hand 2030, rotated between belt wheel 2029 from hand-drive belt wheel 2020 and from hand first
By being connected from hand-drive synchronous belt 2023, transmission ratio between the two is 1:1；It is fixedly mounted from one end of end link I203
It rotates on belt wheel 2029 from hand first, and then can be driven from end link I203 with belt wheel 2029 is rotated from hand first in connecting rod
It is rotated under the driving of dynamic motor 2021；It passes through from the first fixing axle of hand 2030 from end link I203 and does not contact；From
The inside of end link I203 is fixedly mounted in from hand first by square shaft-square hole cooperation from the first fixed pulley of hand 2034 and is consolidated
On dead axle 2030, it is fixedly installed on the inside of the other end from end link I203 from the second fixing axle of hand 2033, is revolved from hand second
Turn belt wheel 2032 to be mounted on by bearing rotary from the second fixing axle of hand 2033, from the first fixed pulley of hand 2034 with from hand
For second rotation belt wheel 2032 by being connected from the first synchronous belt of hand 2031, transmission ratio between the two is 1:1；From end link
One end of II204, which is fixedly mounted in from hand second, to rotate on belt wheel 2032, passes through from the second fixing axle of hand 2033 from end link
It II204 and does not contact；In the inside from end link II204, matched from the second fixed pulley of hand 2042 by square shaft-square hole
Conjunction is fixedly mounted in from the second fixing axle of hand 2033, from hand third rotation belt wheel 2043 be mounted on by bearing rotary from
The inside other end of end link II204 rotates belt wheel 2043 by from hand the from the second fixed pulley of hand 2042 with from hand third
Two synchronous belts 2041 are connected, transmission ratio position 1:1 between the two；Instrument lifting seat 206 passes through intermediate transit part 2044 fixedly
It is mounted on from hand third rotation belt wheel 2043；Instrument driving 2061 both ends of lead screw are mounted on instrument lifting by bearing rotary
On seat 206, instrument lifting spline 2063 both ends parallel with instrument driving 2061 axis of lead screw are fixedly mounted in instrument lifting
On seat 206, the sliding block of instrument drive seat 2062 and instrument lifting spline 2063 is fixedly linked, and drives lead screw 2061 with instrument
Nut is fixedly linked, and instrument seat 205 is fixedly mounted in instrument drive seat 2062；In this way, instrument driving lead screw 2061 is being pacified
When moving under the driving of the instrument lifting motor 2064 loaded on 206 bottom of instrument lifting seat, instrument drive seat 2062 will be with instrument
Seat 205 does linear slide under the constraint of instrument lifting spline 2063 together, the surgical device being further installed on instrument seat 205
Tool 207 will also make linear slide together therewith.
When initial assembly, it should be ensured that the axis of 207 length direction of surgical instrument and the rotation axis of rotation connecting shaft 2013
Intersection, and make, instrument lifting seat 206 and from end link parallel with the rotation axis direction of connecting rod base 202 from end link II204
I203 is parallel to each other；In this way, due to relatively fixed with connecting rod base 202 from the first fixed pulley of hand 2034, when from end link I203
When being rotated under driving, under the constraint from the first synchronous belt of hand 2031, from hand second rotate belt wheel 2032 will with it is fixed thereto
Slave end link II204 make pure translational movement relative to connecting rod base 202 together；Further as from the second fixed pulley of hand 2042
With it is relatively fixed from end link I203, then during exercise from end link II204, due to the constraint from the second synchronous belt of hand 2041,
Instrument lifting seat 206 will be parallel with from end link I203 always；This constraint condition makes instrumentation arm during the motion
Instrument shaft passes through one, space fixed point, fixed point 280 as shown in figure 18, i.e., when connecting rod driving motor 2021 rotates always
When, inside the instrumentation arm under the constraint of each synchronous belt, from end link I203, from end link II204, instrument lifting seat 206
Also will be moved under the constraint of mechanism of the present invention therewith, regardless of instrument lifting seat 206 move at a of boundary or at the c of boundary or
At any middle position b, instrument shaft passes through fixed point 280 always；The fixed point 280 should be also laid out in design and initial assembly
In rotation connecting shaft 2013, rotated in this way when from the driving rotation connecting shaft 2013 of hand first motor 2011, and then drive entire
Along rotation connecting shaft 2013 when moving perpendicular to paper direction, the axis direction of instrument shaft still passes through instrumentation arm always
Fixed point 280；Finally, the arrangement of the elevating movement of instrument seat 205, also needs to make its driving in instrument lifting motor 2064
Under when moving up and down, instrument shaft still passes through fixed point 280 always.Instrumentation arm of the present invention uses vertical arrangement mode,
The axis for rotating connecting shaft 2013 is vertical with the earth, and this layout type can make the outreach space of instrumentation arm minimum,
The boundary in outreach space is boundary 290 as shown in figure 18, and the radius size on the boundary is fixed point 280 to instrument liter will
The distance at 206 top of seat；It is that instrumentation arm has folding feature that the present invention, which also has an advantage, such as Figure 19 institute
Show, volume after folding is small and exquisite, is readily transported.
In addition to the embodiment of the above-described instrumentation arm based on toothed belt transmission, instrumentation arm can also be adopted
With the embodiment as shown in figure 20 based on link transmission, one end of first connecting rod 2025 by bearing rotary company of being mounted on
202 middle part upper position of pole socket, and being connected with connecting rod belt wheel 2024, connecting rod belt wheel 2024 can be by from hand-drive synchronous belts 2023
And connecting rod driving pulley 2022 is driven by connecting rod driving motor 2021, and then first connecting rod 2025 can be driven to rotate；Second connecting rod
2026 one end is mounted on the lower part of connecting rod base 202 by bearing rotary, and the other end passes through bearing and third connecting rod 2027
The rotation of middle part upper position is connected, and the top of third connecting rod 2027 is revolved by the middle part of bearing and first connecting rod 2025 position of keeping right
Phase inversion connects, the rotary joint that connecting rod base 202, first connecting rod 2025, second connecting rod 2026, third connecting rod 2027 pass through interconnection
First parallelogram A is constituted, as shown in figure 20；The right end of first connecting rod 2025 and the top of fourth link 2028 rotate phase
Even, the bottom end of third connecting rod 2027 is connected by rotary joint with the rotation of one end of new 209 raised structures of instrument lifting seat, and the 4th
The bottom end of connecting rod 2028 is connected by rotary joint with the rotation of the other end of new 209 raised structures of instrument lifting seat, first connecting rod
2025, third connecting rod 2027, fourth link 2028, new instrument lifting seat 209 (label 209 is increased on Figure 20) pass through mutual
The rotary joint of connection constitutes second parallelogram B, as shown in figure 20；Under this constraint condition, the position of fixed point 280
The extension of two rotary joint lines on the extended line of two rotary joint lines on connecting rod base 202 and new instrument lifting seat 209
On the intersection point of line, sliding of the instrument seat 205 on new instrument lifting seat 209 has layout so that the axis of instrument shaft is solid by this
Fixed point 280.The linear mould group 2060 being mounted on new instrument lifting seat 209 can make 205 linear movement of instrument seat.
Figure 21 show the multiple degrees of freedom surgical instrument that the present invention uses, and publication can be used in specific embodiment
(application number: form 201510669801.1), detailed construction are not belonging to scope of the invention, and details are not described herein.
Figure 22,23 show the signal for carrying out endoscope-assistant surgery using Minimally Invasive Surgery instrument auxiliary system, operation consent patient 12
It is fixed on operating bed 11, doctor 18 selectes instrument point of puncture, respectively endoscope according to operation demand, in 12 body surface of patient
13 endoscope point of puncture 14, common hysteroscope instrument 15 hysteroscope instrument point of puncture 16 and present system used in auxiliary system
System point of puncture 17；Since 12 position of patient is fixed, then the spatial position of these points of puncture is also fixed therewith, it is contemplated that common hysteroscope
Instrument 15, by manually directly operating, therefore can directly pass through two points of puncture 14,16 with endoscope 13；Surgical instrument 207 is installed
There are one on instrumentation end 200 of the invention, and on the mechanical arm at instrumentation end 200 can make surgical instrument 207 exist
The fixed point 280 passed through always in motion process, the then preoperative fixed point 280 that should make on instrumentation end 200 and patient
The auxiliary system point of puncture 17 of the fixation of 12 body surfaces overlaps, to avoid in surgical procedure due to the movement of surgical instrument 207
Lead to the additional injuries of patient 12；The process for making fixed point 280 and auxiliary system point of puncture 17 overlap are as follows: the present invention is minimally invasive
Position locks after surgical instrument auxiliary system is moved to 11 side of operating bed, individually quickly shifting of the adjustment column 2 relative to pedestal 1
Momentum makes crossbeam 3 reach certain height；Later, for doctor by external drive, synchronous release locks the band-type brake of crossbeam 3, locking
The band-type brake of gear 33, the band-type brake for locking lifting seat 5 and locking are from the band-type brake of end slide bar 7, and doctor can hold from end group seat later
201, instrument operating side 200 is carefully slowly moved, the fixed point 280 on instrumentation end 200 and the auxiliary on patient 12 are made
System point of puncture 17 coincides, and then locks aforementioned each band-type brake, make crossbeam 3, telescopic rod 4, lifting seat 5, from end slide bar 7 can not
It is moved again；After instrumentation end is in place, doctor passes through another external drive, band-type brake, the locking quilt of release locking main side slide bar 6
The band-type brake of dynamic connecting rod I101 and the band-type brake of the passive connecting rod II102 of locking, and then manually adjust main hand wrist 105 to comfortable position,
Then aforementioned each band-type brake is locked, move main side slide bar 6, passive connecting rod I101, passive connecting rod II102 can not again.Later
Doctor 18 can observe display the acquired lesion image of endoscope 13 monitor 19, with the common hysteroscope instrument 15 of left-handed operation,
The right hand operates main hand wrist 105 and implements surgical procedure, and endoscope 13 holds mirror doctor holding by another.In surgical procedure, wrist is sliding
Seat 104 always with 206 keeping parallelism of instrument lifting seat, amount of exercise of the surgical instrument 207 on instrument lifting seat 206 and main hand hand
Amount of exercise of the wrist 105 on wrist slide 104 is equal；The implementation of the process is that doctor operates main hand wrist 105 and moves
When, main side connecting rod 103 will rotate relative to passive connecting rod II102, wrist slide 104 occurs relative to main side connecting rod 103
Rotation, main hand wrist 105 are moved relative to wrist slide 104, and synchronously the motor in instrumentation end is by drive link
Seat 202 relative to rotate the amount of spin equal with main side connecting rod 103 from end group seat 201, from end link I203 relative to connecting rod base
The 202 rotations amount of exercise equal with wrist slide 104, instrument seat 205 are relative to the movement of instrument lifting seat 206 and main hand wrist
105 equal amount of movements；In the same fashion, doctor is completed using each joint in main hand wrist 105 to surgical instrument 207
The control in interior each joint.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if those skilled in the art
Member is enlightened by it, without departing from the spirit of the invention, the part configuration that takes other form, driving device and
Connection type not inventively designs frame mode similar with the technical solution and embodiment, should belong to guarantor of the invention
Protect range.
Claims (16)
1. a kind of Minimally Invasive Surgery instrument auxiliary operation arm, which is characterized in that including connecting rod base, from end link I, from end link II,
Instrument lifting seat and instrument seat, described one end from end link I and connecting rod base rotation connect, described one end from end link II with
It rotates and connects from the other end of end link I, the instrument lifting seat rotates connection, the instrument with from the other end of end link II
Seat is slidably connected with instrument lifting seat.
2. Minimally Invasive Surgery instrument auxiliary operation arm according to claim 1, it is characterised in that；
The auxiliary operation arm includes from end group seat, and the connecting rod base rotates connection with from end group seat.
3. Minimally Invasive Surgery instrument auxiliary operation arm according to claim 2, it is characterised in that:
The auxiliary operation arm further include from hand first motor, connecting rod driving motor, first connecting rod, second connecting rod, third connecting rod,
Fourth link and instrument lifting motor, it is described to be connected to from end group seat from hand first motor, it is described from the defeated of hand first motor
Shaft is connected with rotation connecting shaft by transmission mechanism, and the top for rotating connecting shaft and connecting rod base connects；The connecting rod driving electricity
Machine is connected to the top of connecting rod base, and the first connecting rod and second connecting rod are connected to from end link I, the third connecting rod and
Double leval jib is connected to from end link II；One end of the first connecting rod is connected by the lower part of bearing and connecting rod base, the other end
It is connected with the rotation of the top of fourth link；One end of the second connecting rod is connected by the lower part of bearing and connecting rod base, the other end
It is connected by bearing with the rotation of the middle part upper position of third connecting rod；The top of the third connecting rod passes through bearing and first connecting rod
Middle part position rotation of keeping right be connected, the bottom end of third connecting rod is rotated with instrument lifting seat to be connected；The bottom end of the fourth link
It is connected with the rotation of instrument lifting seat；The connecting rod driving motor is connected by the bearing installation end of transmission mechanism and first connecting rod；
The linear mould group of lifting is connected on the instrument lifting seat, the instrument seat is connect with linear mould group is gone up and down, the instrument lifting
Motor is connect with linear mould group is gone up and down.
4. Minimally Invasive Surgery instrument auxiliary operation arm according to claim 3, which is characterized in that the connecting rod driving motor with
Transmission mechanism between first connecting rod includes connecting rod driving pulley, from hand-drive synchronous belt and connecting rod belt wheel, described from hand-drive
Synchronous belt is connected between connecting rod driving pulley and connecting rod belt wheel, the output shaft of the connecting rod driving pulley and connecting rod driving motor
The bearing installation end of connection, the connecting rod belt wheel and first connecting rod connects；
The connecting rod base, first connecting rod, second connecting rod, third connecting rod form a parallelogram, the first connecting rod, third
Connecting rod, fourth link and instrument lifting seat form a parallelogram.
5. Minimally Invasive Surgery instrument auxiliary operation arm according to claim 3 or 4, which is characterized in that the instrument lifting
Seat is parallel with from end link I, described parallel with the rotation axis direction of connecting rod base from end link II.
6. Minimally Invasive Surgery instrument auxiliary operation arm according to claim 3 or 4, which is characterized in that the linear mould of lifting
Group includes instrument driving lead screw and instrument drive seat, and instrument driving lead screw both ends are connected on instrument lifting seat by bearing, device
Tool drive seat is fixedly connected with the nut on instrument driving lead screw, and the instrument seat is fixedly connected with instrument drive seat, the device
Tool lifting motor is connect with instrument driving lead screw.
7. Minimally Invasive Surgery instrument auxiliary operation arm according to claim 3 or 4, which is characterized in that described from the first electricity of hand
The output shaft of machine passes through bevel gear pair and rotation connection axis connection.
8. Minimally Invasive Surgery instrument auxiliary operation arm according to claim 3 or 4, which is characterized in that described to connect from end group seat
It is connected to translating device.
9. Minimally Invasive Surgery instrument auxiliary operation arm according to claim 8, which is characterized in that the translating device includes four
Side shape fixing seat, quadrangle middle base, quadrangle end seat, the first passive connecting rod, the second passive connecting rod, the passive connecting rod of third and
4th passive connecting rod, the first passive connecting rod and the second passive length of connecting rod are equal, and the passive connecting rod of third and the 4th passively connects
Pole length is equal；One end of the first passive connecting rod and the second passive connecting rod is respectively rotatably connected to quadrangle fixing seat
On, the other end is respectively rotatably connected in quadrangle middle base；One end of the third passive connecting rod and the 4th passive connecting rod
It is respectively rotatably connected in quadrangle middle base, the other end is respectively rotatably connected to quadrangle end seat；The quadrangle
It is connected with the first band-type brake of quadrangle in fixing seat, the second band-type brake of quadrangle is connected in the quadrangle middle base；Four side
Shape end seat is fixedly connected with from end group seat.
10. Minimally Invasive Surgery instrument auxiliary operation arm according to claim 9, which is characterized in that the translating device connection
There is lifting device, the lifting device includes lifting seat, slide bar, ball-screw and assist motor, and the ball-screw is connected to
On lifting seat, ball-screw nut is connected on ball-screw, the slide bar is fixedly connected with ball-screw nut, the power-assisted
The output shaft of motor is connect with ball-screw, and the quadrangle fixing seat is fixedly connected with slide bar.
11. Minimally Invasive Surgery instrument auxiliary operation arm according to claim 9, which is characterized in that the translating device connection
There is a lifting device, the lifting device includes lifting seat, slide bar and the synchronous belt drive mechanism being disposed vertically, described to be disposed vertically
Synchronous belt drive mechanism be connected on lifting seat, the slide bar passes through intermediate connector and the toothed belt transmission machine that is disposed vertically
Synchronous belt on structure is fixedly connected；The quadrangle fixing seat is fixedly connected with slide bar.
12. Minimally Invasive Surgery instrument auxiliary operation arm according to claim 9, which is characterized in that the translating device connection
There is lifting device, the lifting device includes lifting seat, slide bar, sprocket wheel, chain and counterweight, and the sprocket wheel is connected to lifting seat
On, one end of the chain is connected by connector with the top of slide bar, and the other end is solid with counterweight top after being oriented to sprocket wheel
Fixed to be connected, the gravity of slide bar and its respective ends load is equal with counterweight；The quadrangle fixing seat is fixedly connected with slide bar.
13. Minimally Invasive Surgery instrument auxiliary operation arm according to claim 8, which is characterized in that the translating device includes
Main side slide bar end, passive connecting rod I, the first fixed pulley, the second fixed pulley, the first rotation belt wheel, the second rotation belt wheel, first
Synchronous toothed belt and the second synchronous toothed belt；One end of the passive connecting rod I is connect by bearing with main side slide bar end, the other end
It is connected with hollow shaft；Connecting shaft, one end of the passive connecting rod II and connecting shaft are connected with by bearing inside the hollow shaft
It is fixedly connected；First fixed pulley is connect with main side slide bar end, the top connection of the second fixed pulley and hollow shaft, and first
The bottom for rotating belt wheel and hollow shaft connects, and the second rotation belt wheel is connect by bearing with the other end of passive connecting rod II,
First synchronous toothed belt is connected between the first rotation belt wheel and the first fixed pulley, the second synchronous tooth profile band connection
Between the second rotation belt wheel and the second fixed pulley；The connecting shaft is connected with the second band-type brake, and the passive connecting rod I is connected with
First band-type brake, it is described to be fixedly connected from end group seat with the second rotation belt wheel.
14. Minimally Invasive Surgery instrument auxiliary operation arm according to claim 13, which is characterized in that the translating device connection
There is lifting device, the lifting device includes lifting seat, slide bar, ball-screw and assist motor, and the ball-screw is connected to
On lifting seat, ball-screw nut is connected on ball-screw, the slide bar is fixedly connected with ball-screw nut, the power-assisted
The output shaft of motor is connect with ball-screw, and main side slide bar end is fixedly connected with slide bar.
15. Minimally Invasive Surgery instrument auxiliary operation arm according to claim 13, which is characterized in that the translating device connection
There is a lifting device, the lifting device includes lifting seat, slide bar and the synchronous belt drive mechanism being disposed vertically, described to be disposed vertically
Synchronous belt drive mechanism be connected on lifting seat, the slide bar passes through intermediate connector and the toothed belt transmission machine that is disposed vertically
Synchronous belt on structure is fixedly connected；Main side slide bar end is fixedly connected with slide bar.
16. Minimally Invasive Surgery instrument auxiliary operation arm according to claim 13, which is characterized in that the translating device connection
There is lifting device, the lifting device includes lifting seat, slide bar, sprocket wheel, chain and counterweight, and the sprocket wheel is connected to lifting seat
On, one end of the chain is connected by connector with the top of slide bar, and the other end is solid with counterweight top after being oriented to sprocket wheel
Fixed to be connected, the gravity of slide bar and its respective ends load is equal with counterweight；Main side slide bar end is fixedly connected with slide bar.
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| CN201710493106 | 2017-06-21 | ||
| CN2017104931063 | 2017-06-21 |
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| CN110393587A (en) * | 2019-08-30 | 2019-11-01 | 山东威高手术机器人有限公司 | Mechanical arm cradle head and doctor's mechanical arm |
| CN110403697A (en) * | 2019-08-30 | 2019-11-05 | 山东威高手术机器人有限公司 | Vertical telescopic joint and the micro-wound operation robot with vertical telescopic joint |
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| CN112353495B (en) * | 2020-10-29 | 2021-08-10 | 北京唯迈医疗设备有限公司 | Intervene surgical robot arm system |
| CN112353495A (en) * | 2020-10-29 | 2021-02-12 | 北京唯迈医疗设备有限公司 | Intervene surgical robot arm system |
| CN113022756A (en) * | 2020-12-30 | 2021-06-25 | 重庆宗申创新技术研究院有限公司 | Wind shielding mechanism and motorcycle |
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| CN113081289B (en) * | 2021-04-06 | 2022-10-25 | 山东威高手术机器人有限公司 | Main operation arm for surgical robot |
| CN114098995A (en) * | 2021-11-29 | 2022-03-01 | 天津大学医疗机器人与智能系统研究院 | Instrument driving device, instrument arm, slave hand end and robot-assisted surgery system |
| CN114098995B (en) * | 2021-11-29 | 2023-12-22 | 天津大学医疗机器人与智能系统研究院 | Instrument driving device, instrument arm, slave hand end and robot auxiliary operation system |
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