CN109431609A - The inserting needle device of Needle-driven Robot based on arc-shaped guide rail RCM mechanism - Google Patents
The inserting needle device of Needle-driven Robot based on arc-shaped guide rail RCM mechanism Download PDFInfo
- Publication number
- CN109431609A CN109431609A CN201811549875.1A CN201811549875A CN109431609A CN 109431609 A CN109431609 A CN 109431609A CN 201811549875 A CN201811549875 A CN 201811549875A CN 109431609 A CN109431609 A CN 109431609A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- arc
- needle
- shaped guide
- inserting needle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 94
- 230000033001 locomotion Effects 0.000 claims abstract description 41
- 239000011253 protective coating Substances 0.000 claims description 26
- 238000011068 loading method Methods 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 239000002994 raw material Substances 0.000 claims description 4
- 239000007921 spray Substances 0.000 claims description 4
- 150000001875 compounds Chemical class 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 8
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 8
- 239000004810 polytetrafluoroethylene Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- -1 polytetrafluoroethylene Polymers 0.000 description 7
- 239000000843 powder Substances 0.000 description 6
- 238000003756 stirring Methods 0.000 description 6
- 238000002324 minimally invasive surgery Methods 0.000 description 5
- 229910010271 silicon carbide Inorganic materials 0.000 description 5
- 229920000742 Cotton Polymers 0.000 description 4
- 239000004698 Polyethylene Substances 0.000 description 4
- 239000002134 carbon nanofiber Substances 0.000 description 4
- 239000011248 coating agent Substances 0.000 description 4
- 238000000576 coating method Methods 0.000 description 4
- UAUDZVJPLUQNMU-KTKRTIGZSA-N erucamide Chemical compound CCCCCCCC\C=C/CCCCCCCCCCCC(N)=O UAUDZVJPLUQNMU-KTKRTIGZSA-N 0.000 description 4
- 239000006260 foam Substances 0.000 description 4
- 239000011491 glass wool Substances 0.000 description 4
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 230000003902 lesion Effects 0.000 description 4
- 239000006210 lotion Substances 0.000 description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 4
- 229920000573 polyethylene Polymers 0.000 description 4
- 229920006124 polyolefin elastomer Polymers 0.000 description 4
- QCWXUUIWCKQGHC-UHFFFAOYSA-N Zirconium Chemical compound [Zr] QCWXUUIWCKQGHC-UHFFFAOYSA-N 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000013329 compounding Methods 0.000 description 2
- 239000007822 coupling agent Substances 0.000 description 2
- 238000001035 drying Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000002156 mixing Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000009527 percussion Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 239000012779 reinforcing material Substances 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 239000002904 solvent Substances 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 239000004721 Polyphenylene oxide Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 229920001577 copolymer Polymers 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000839 emulsion Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- XEEYBQQBJWHFJM-RNFDNDRNSA-N iron-60 Chemical compound [60Fe] XEEYBQQBJWHFJM-RNFDNDRNSA-N 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- WXZMFSXDPGVJKK-UHFFFAOYSA-N pentaerythritol Chemical compound OCC(CO)(CO)CO WXZMFSXDPGVJKK-UHFFFAOYSA-N 0.000 description 1
- 229920000570 polyether Polymers 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention discloses a kind of inserting needle devices of Needle-driven Robot based on arc-shaped guide rail RCM mechanism, including arc-shaped guide rail, the needling mechanism being arranged on the arc-shaped guide rail, the arcuate movement driving mechanism for driving the needling mechanism arcuately to slide on the arc-shaped guide rail and the rotating drive mechanism for driving the arc-shaped guide rail to make rotating motion；The arc-shaped guide rail includes guide rail body, is separately positioned on the guide rail body upper flange and lower flange of two sides and the outer toothed portion being arranged on the external slideway of the guide rail body up and down.Entire needling mechanism and arcuate movement driving mechanism of the present invention by rotating drive mechanism drive arc-shaped guide rail and thereon make rotating motion, needling mechanism is driven arcuately to move on arc-shaped guide rail by arcuate movement driving mechanism, it is moved by two kinds compound, keep the entry point position of puncture needle fixed, and its needle angle is able to achieve any adjusting, to realize the adjusting to inserting needle posture.
Description
Technical field
The present invention relates to medical instruments field, in particular to a kind of Needle-driven Robot based on arc-shaped guide rail RCM mechanism
Inserting needle device.
Background technique
Minimally Invasive Surgery is to probe into carry out hand in vivo by the miniature incision of human body surface using elongated rod-shaped operation tool
Art operation.Compared with traditional open surgery, it can reduce operative incision and operative scar, shorten recovery time, reduces
Amount of bleeding and complication etc.；As can be seen that the superiority that Minimally Invasive Surgery has open surgery incomparable, therefore receive wide
The favor of big patient and doctor, minimal invasive techniques are applied in multiple clinical fields at present.
But current Minimally Invasive Surgery is substantially completed by veteran doctor, but reality is, experienced
Doctor it is limited, puncturing operation process duration is longer, and the energy of doctor is limited, to limit the popularization of Minimally Invasive Surgery.
The advantage as possessed by Minimally Invasive Surgery, and its operationally these existing difficulties, but also doctor it is expected that obtaining auxiliary sets
For to facilitate implementation and this kind of operation can be carried out in more areas.Robot technology is combined with traditional minimal invasive techniques
Puncture needle robot be generally considered a kind of method for efficiently solving traditional minimal invasive techniques disadvantage.Puncture needle robot one
As include robot arm, the RCM inserting needle device of robot arm end is set, RCM inserting needle device include RCM mechanism and into
Needle mechanism.Robot arm can move freely, and for realizing the positioning of point of puncture, RCM mechanism is then used for the puncture to puncture needle
Posture (puncture angle) is adjusted, and puncture needle mechanism is carried out for finally realizing to puncture, and puncture needle is made to reach lesion point.But it is existing
With the presence of inserting needle device structure is complicated, needling mechanism inserting needle mode it is single (lack quick needle insertion mode, patient puncture feeling of pain
Strongly), device overall weight is big is inconvenient to the problems such as controlling, it is difficult to meet the application demand of puncture needle robot.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of based on arc
The inserting needle device of the Needle-driven Robot of guide rail RCM mechanism.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of wearing based on arc-shaped guide rail RCM mechanism
The inserting needle device for piercing robot, including arc-shaped guide rail, the needling mechanism being arranged on the arc-shaped guide rail, for drive it is described into
The arcuate movement driving mechanism that needle mechanism is arcuately slided on the arc-shaped guide rail and the use being arranged on the arc-shaped guide rail
In the rotating drive mechanism for driving the arc-shaped guide rail to make rotating motion；
The arc-shaped guide rail include guide rail body, be separately positioned on the guide rail body up and down two sides upper flange and under it is convex
Edge and the outer toothed portion being arranged on the external slideway of the guide rail body；
Mounting plate is provided on the needling mechanism, the arcuate movement driving mechanism includes affixed with the mounting plate
Pinboard, the arcuate movement driving motor being arranged on the pinboard and drive connection are in the arcuate movement driving motor
The external gear engaged with the outer toothed portion of the guide rail body on output shaft；
The rotating drive mechanism includes loading plate, the rotational drive motor being arranged on the loading plate and one end and institute
State the output axis connection of rotational drive motor and connecting plate that the other end is connect with the guide rail body.
Preferably, the bottom of the mounting plate is provided with the upper fixture block and lower fixture block of arrangement symmetrical above and below, the upper card
Block two sides are provided with the upper guide bearing affixed with the mounting plate, and the lower fixture block two sides are provided with solid with the mounting plate
The lower guide bearing connect；
It is provided with card slot on the upper fixture block and the opposite two sides of lower fixture block, is fastened on the guide rail respectively by card slot
On the upper flange and lower flange of ontology；
Guide groove is offered on the bearing outer wall of the upper guide bearing and lower guide bearing, is blocked respectively by guide groove
It is located on the upper flange and lower flange of the guide rail body.
Preferably, perforation is provided with several apertures on the external gear.
Preferably, the needling mechanism includes box body, is set to the intracorporal linear guide of the box along its length, sets
Set the inserting needle sliding block in the linear guide, inner end be arranged on the inserting needle sliding block and outer end be pierced by along its length it is described
The puncture needle of box body and inserting needle driving assembly for driving the inserting needle sliding block to slide in the linear guide, the installation
Plate is connect with the box body.
Preferably, the inserting needle sliding block include the sliding block being slidably arranged in the linear guide, be provided with it is described
Sliding slot, the top shoe being slidably arranged in the sliding slot on the upper surface of sliding block and the puncture being fixed on the top shoe
The inner end of needle fixing seat, the puncture needle is arranged in the puncture needle fixing seat；The puncture needle fixing seat side is provided with
Baffle.
Preferably, pogo pin assembly is additionally provided in the box body, the pogo pin assembly includes that setting is sliding in the inserting needle
The electromagnet of block side and the electromagnet guide rod being arranged on the electromagnet, the electromagnet guide rod are vertically installed in the gear
The side of plate, for pushing the top shoe to slide in the sliding slot.
Preferably, the both ends of the sliding slot are provided with the limited block for being limited to the top shoe；
Taper cushion hole is offered on the inner surface that the limited block is contacted with the top shoe, the taper cushion hole
Bottom is connected with spring, and the outer end of the spring is connected with buffer board；
The both ends along the direction of motion of the top shoe are provided with for cooperating the cone being inserted into the taper cushion hole
Shape bumper post.
Preferably, the puncture needle guide holder being pierced by for the puncture needle is provided on the box body.
Preferably, the inserting needle driving assembly includes inserting needle motor, the output shaft drive connection with the inserting needle motor
Worm gear case, be drivingly connected with the output shaft of the worm gear case driving wheel, set along the length direction of the box body
Set the driven wheel in the driving wheel opposite side and the synchronous belt that is arranged between the driving wheel and driven wheel；The sliding block is logical
Cross compressing member and the synchronous band connection.
Preferably, the upper flange and the inner surface of lower flange outer surface, card slot and guide groove are provided with protection and apply
Layer, after the protective coating passes through spray protective coating, then through dry obtained；
The protective coating includes the raw material of following parts by weight:
The beneficial effects of the present invention are: the inserting needle device of the Needle-driven Robot of the invention based on arc-shaped guide rail RCM mechanism,
Entire needling mechanism and arcuate movement driving mechanism by rotating drive mechanism drive arc-shaped guide rail and thereon makes rotating motion,
By arcuate movement driving mechanism drive needling mechanism arcuately moved on arc-shaped guide rail, by two kinds move it is compound, make
The entry point position of puncture needle is fixed, and its needle angle is able to achieve any adjusting, to realize the tune to inserting needle posture
Section is realized and precisely punctures inserting needle.The present invention is able to achieve the quick needle insertion of puncture needle, can mitigate human body by setting pogo pin assembly
Feeling of pain；Steady inserting needle at a slow speed is then realized by driving assembly again, until lesion point；The present invention is applied by setting protection
Layer, can reduce the frictional force between arc-shaped guide rail and upper and lower fixture block, upper and lower guide bearing contact surface, enhance the intensity of the two, prolong
Long life.The present invention is cooperated by taper cushion hole and taper bumper post, for the electromagnet guide rod on electromagnet
Percussion power is buffered, and is converted flexible impact for top shoe and the direct rigid collision of limited block, to protect inserting needle sliding block, is prolonged
Its long service life.The present invention can prevent external gear and guide rail body by being provided with aperture on external gear and guide rail body
On outer toothed portion gear motion when there is stuck phenomenon.The configuration of the present invention is simple, component characteristics of compact layout, transmission efficiency are high, behaviour
Facilitate, has a good application prospect.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the inserting needle device of the Needle-driven Robot of the invention based on arc-shaped guide rail RCM mechanism；
Fig. 2 is another visual angle of the inserting needle device of the Needle-driven Robot of the invention based on arc-shaped guide rail RCM mechanism
Structural schematic diagram；
Fig. 3 is the structural schematic diagram of mounting plate of the invention；
Fig. 4 is the structural schematic diagram of arc-shaped guide rail of the invention；
Fig. 5 is the structural schematic diagram of needling mechanism of the invention；
Fig. 6 is the structural schematic diagram of inserting needle sliding block of the invention；
Fig. 7 is the schematic cross-sectional view of limited block of the invention；
Fig. 8 is the overlooking structure diagram of top shoe of the invention；
Fig. 9 is the schematic diagram of compact heap and synchronous belt cooperation of the invention.
Description of symbols:
1-box body；2-linear guides；3-inserting needle sliding blocks；4-puncture needles；5-driving assemblies；6-pogo pin assemblies；7—
Arc-shaped guide rail；8-arcuate movement driving mechanisms；9-rotating drive mechanisms；10-puncture needle guide holders；11-mounting plates；30—
Sliding block；31-sliding slots；32-top shoes；33-puncture needle fixing seats；34-baffles；35-limited blocks；50-inserting needle motors；
51-worm gear cases；52-driving wheels；53-driven wheels；54-synchronous belts；55-compressing members；60-electromagnet；61-electricity
Magnet guide rod；70-guide rail bodies；71-upper flanges；72-lower flanges；73-outer toothed portions；83-apertures；80-pinboards；
81-arcuate movement driving motors；82-external gears；90-loading plates；91-rotational drive motors；92-connecting plates；100—
Needling mechanism；110-upper fixture blocks；111-lower fixture blocks；112-upper guide bearings；113-lower guide bearings；114-card slots；
115-guide grooves；320-taper bumper posts；350-taper cushion holes；351-springs；352-buffer boards.
Specific embodiment
The present invention will be further described in detail below with reference to the embodiments, to enable those skilled in the art referring to specification
Text can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein are not precluded one or more
The presence or addition of a other elements or combinations thereof.
If certain a part of mechanism or certain point pass through a fixation far from mechanism itself always during the motion
Point (or being constrained in a very small space), and the point is without physics hinge restraining, then this kind of mechanism can claim
For " distal end virtual pivot mechanism " (Remote Center of Motion, RCM mechanism).The characteristics of this kind of mechanism just with it is micro-
The operating characteristics of invasive procedures match, it obtains immense success in micro-wound operation robot.RCM mechanism utilizes structure itself
The micro-wound operation robot that constraint is realized is not introduced into the freedom degree of redundancy, but the mechanism of special designing is relied on to make the one of robot
Part passes through the fixed point in space always during the motion.The present invention uses arc-shaped guide rail RCM mechanism, and such as Fig. 1 is of the invention
Rotating drive mechanism 9 is mounted on the mechanical arm of external Needle-driven Robot and (is not drawn into figure), and arc-shaped guide rail 7 is mounted on rotation
Driving mechanism 9, under the driving of rotating drive mechanism 9, arc-shaped guide rail 7 is done around the axis of the output shaft of rotating drive mechanism 9 to be revolved
Transhipment is dynamic；Needling mechanism 100 is mounted on arc-shaped guide rail 7, drives needling mechanism 100 in arc by arcuate movement driving mechanism 8
On shape guide rail 7 arcuately sliding (around arc-shaped guide rail 7 center rotate), by two kinds move it is compound, make the inserting needle of puncture needle 4
Point position is fixed, and its needle angle is able to achieve any adjusting, to realize the adjusting to inserting needle posture.In use, first
It is mobile by mechanical arm, it moves to puncture needle 4 on entry point, is then driven again by rotating drive mechanism 9 and arcuate movement
Mechanism 8 cooperates, and adjusts inserting needle posture, finally completes inserting needle by needling mechanism 100.
As shown in figs. 1-7, the inserting needle device of a kind of Needle-driven Robot based on arc-shaped guide rail RCM mechanism of the present embodiment,
Including arc-shaped guide rail 7, the needling mechanism being arranged on arc-shaped guide rail 7 100, for driving needling mechanism 100 in arc-shaped guide rail 7
The arcuate movement driving mechanism 8 arcuately slided and be arranged on arc-shaped guide rail 7 for driving arc-shaped guide rail 7 to make rotating motion
Rotating drive mechanism 9.
Arc-shaped guide rail 7 include guide rail body 70, be separately positioned on about 70 two sides of guide rail body upper flange 71 and under it is convex
Edge 72 and the outer toothed portion 73 being arranged on the external slideway of guide rail body 70；Mounting plate 11, arc fortune are provided on needling mechanism 100
Dynamic driving mechanism 8 includes the pinboard 80 affixed with mounting plate 11, the arcuate movement driving motor 81 being arranged on pinboard 80
And it is drivingly connected in the external gear engaged with the outer toothed portion 73 of guide rail body 70 on the output shaft of arcuate movement driving motor 81
82；Rotating drive mechanism 9 includes loading plate 90, the rotational drive motor 91 being arranged on loading plate 90 and one end and rotate driving
The connecting plate 92 that the output axis connection and the other end of motor 91 are connect with guide rail body 70.
Wherein, the bottom of mounting plate 11 is provided with the upper fixture block 110 and lower fixture block 111 of arrangement symmetrical above and below, upper fixture block 110
Two sides are provided with the upper guide bearing 112 affixed with mounting plate 11, and lower 111 two sides of fixture block are provided with affixed with mounting plate 11
Lower guide bearing 113；It is provided with card slot 114 on upper fixture block 110 and the opposite two sides of lower fixture block 111, is distinguished by card slot 114
It is fastened on the upper flange 71 and lower flange 72 of guide rail body 70；The bearing outer wall of upper guide bearing 112 and lower guide bearing 113
On offer guide groove 115, be fastened on the upper flange 71 and lower flange 72 of guide rail body 70 respectively by guide groove 115.
Upper fixture block 110 and lower fixture block 111 are fastened on upper flange 71 and lower flange 72, and can arcuately direction is sliding in guide rail body 70
It is dynamic, without being detached from from guide rail body 70；Upper and lower guide bearing 113 includes 2, and 2 upper guide bearings 112 are symmetrically set
Set in upper 1101 two sides of fixture block, 2 lower guide bearings 113 are symmetricly set on lower 111 two sides of fixture block, guide rail body 70 be in it is upper,
Between lower guide bearing 113, upper and lower guide bearing 1131 is fastened in guide rail body 70 by guide groove 1151, and can led
Arcuately direction is slided on rail ontology 70, without being detached from from guide rail body 70.Pass through upper and lower fixture block 111 and upper and lower guiding
Bearing 113 realizes being slidably mounted on arc-shaped guide rail 7 of needling mechanism 100, enables needling mechanism 100 again on arc-shaped guide rail 7
Arcuately direction is smoothly slided.
Further, wherein perforation is provided with several apertures 83 on external gear 82.Several apertures 83 are preferably random set
It sets on external gear 82, by the way that perforative multiple apertures 83 are arranged on external gear 82, makes external gear 82 that there is suitable elasticity,
It can prevent stuck phenomenon occur when 73 gear motion of outer toothed portion on external gear 82 and guide rail body 70.Such as when 82 He of external gear
When 73 gear motion of outer toothed portion in guide rail body 70 blocks, since external gear 82 has suitable elasticity, enable external gear 82
The position is smoothly broken through, is avoided stuck.
Specifically, rotating drive mechanism 9 is fixed in external Needle-driven Robot by loading plate 90 thereon when work
On mechanical arm, rotational drive motor 91 drives arc-shaped guide rail 7 and entire needling mechanism 100 and arcuate movement driving mechanism thereon
8 around the output shaft of rotational drive motor 91 axis rotate；Arcuate movement driving motor 81 drives external gear 82 to rotate, external gear
82 engage with the outer toothed portion 73 of guide rail body 70, make arcuate movement driving mechanism 8 and needling mechanism 100 together in arc-shaped guide rail 7
On arcuately move.It is moved by two kinds compound, keeps the entry point position of puncture needle 4 fixed, and its needle angle energy
Any adjusting is realized, to realize the adjusting to inserting needle posture.
Further, wherein needling mechanism 100 includes box body 1, the linear guide being set in box body 1 along its length
2, the inserting needle sliding block 3 that is arranged in linear guide 2, inner end is arranged on inserting needle sliding block 3 and outer end is pierced by box body 1 along its length
Puncture needle 4 and inserting needle driving assembly 5 for driving inserting needle sliding block 3 to slide in linear guide 2, mounting plate 11 and box body 1
Connection.
Wherein, inserting needle sliding block 3 includes the sliding block 30 being slidably arranged in linear guide 2, is provided with the upper of sliding block 30
Sliding slot 31, the top shoe 32 being slidably arranged in sliding slot 31 on surface and the puncture needle fixing seat being fixed on top shoe 32
33, the inner end of puncture needle 4 is arranged in puncture needle fixing seat 33；33 side of puncture needle fixing seat is provided with baffle 34.
Wherein, pogo pin assembly 6 is additionally provided in box body 1, pogo pin assembly 6 includes the electromagnetism that 3 side of inserting needle sliding block is arranged in
Iron 60 and the electromagnet guide rod 61 being arranged on electromagnet 60, electromagnet guide rod 61 are vertically installed in the side of baffle 34, are used for
Top shoe 32 is pushed to slide in sliding slot 31.Wherein, the both ends of sliding slot 31 are provided with for being limited to top shoe 32
Limited block 35.In a further preferred embodiment, it is slow that taper is offered on the inner surface that limited block 35 is contacted with top shoe 32
Punching 350, the bottom of taper cushion hole 350 are connected with spring 351, and the outer end of spring 351 is connected with buffer board 352；Buffer board
Supple buffer layer, such as flexible glue gasket are provided on 352.The both ends along the direction of motion of top shoe 32 are provided with for cooperating
The taper bumper post 320 being inserted into taper cushion hole 350.
Taper cushion hole 350 and taper bumper post 320 cooperate, for the percussion to the electromagnet guide rod 61 on electromagnet 60
Power is buffered, and flexible impact is converted by top shoe 32 and the direct rigid collision of limited block 35, to protect inserting needle sliding block 3.
Specifically, top shoe 32 quickly moves downward when electromagnet guide rod 61 taps baffle 34 to the left, the taper of 32 left end of top shoe is slow
It rushes column 320 to be inserted into taper cushion hole 350, taper bumper post 320 and buffer board 352 collide, and squeeze buffer board 352, compress
Spring 351 between buffer board 352 and the bottom surface of taper cushion hole 350 is set, until spring 351 is compressed to limit position
It sets, 32 stop motion of top shoe.To be acted on by the elastic force of spring 351, by top shoe 32 and the direct rigidity of limited block 35
Collision is converted into taper bumper post 320 and buffer board 352 collides, and squeezes buffer board 352, and compression is arranged in 352 He of buffer board
With the flexible impact of spring 351 between the bottom surface of taper cushion hole 350, good guarantor can be formed to top shoe 32 and limited block 35
Shield, prolongs its service life.
Wherein, the puncture needle guide holder 10 being pierced by for puncture needle 4 is provided on box body 1.
Wherein, inserting needle driving assembly 5 includes inserting needle motor 50, the worm gear snail with the output shaft drive connection of inserting needle motor 50
Rod box 51 is arranged with the driving wheel 52 of the output shaft drive connection of worm gear case 51, along the length direction of box body 1 in driving wheel
The driven wheel 53 of 52 opposite sides and the synchronous belt 54 being arranged between driving wheel 52 and driven wheel 53；Sliding block 30 passes through compressing member 55
It is connect with synchronous belt 54.
4 inserting needle of puncture needle is divided into two steps, and 4 inserting needle initial stage of puncture needle carries out quick needle insertion using pogo pin assembly 6, makes puncture needle
4 pierce through rapidly skin, mitigate the feeling of pain of human body；Then inserting needle again steadily at a slow speed, until lesion point.Specifically, referring to figure
1, inserting needle initial stage, 60 energization of electromagnet acts, and the electromagnet guide rod 61 on electromagnet 60 pops up to the left, taps puncture needle fixing seat
The baffle 34 of 33 sides, puncture needle fixing seat 33 is slided in sliding slot 31 to the left together with top shoe 32, on top shoe 32
Taper bumper post 320 be inserted into limited block 35 on taper cushion hole 350 in, the left end for being pierced by puncture needle 4 outside box body 1 quickly to
Left movement realizes quick needle insertion.The limited block 35 in 31 left side of sliding slot limits the extreme position that top shoe 32 moves downward.It
Afterwards, the work of motor 50 drives driving wheel 52 to rotate, and drives sliding block 30 to move downward by synchronous belt 54, on 31 right side of sliding slot
Under the position-limiting action of limited block 35, top shoe 32 and the limited block 35 on right side move downward together close to followed by sliding block 30,
Move right puncture needle 4 steadily at a slow speed, slow speed puncture, until lesion point.After the completion of puncture, sliding block is driven by synchronous belt 54
30 move right, and realize that puncture needle 4 resets.
In one embodiment, the inner surface of 72 outer surface of upper flange 71 and lower flange, card slot 114 and guide groove 115 is equal
It is provided with protective coating, the upper flange 71 and lower flange 72 and upper fixture block 110, lower fixture block 111, upper guide bearing of guide rail body 70
112, frequently mutually movement and impact is generated between lower guide bearing 113, on the one hand protective coating can reduce the two contact surface
Between frictional force, conducive to arc sliding of the needling mechanism 100 on arc-shaped guide rail 7, what both on the other hand can also be enhanced is strong
Degree extends the service life of arc-shaped guide rail 7 and upper and lower fixture block 111, upper and lower guide bearing 113.
After protective coating passes through spray protective coating, then through dry obtained；
Protective coating includes the raw material of following parts by weight:
Wherein, lotion is one of aqueous polyurethane emulsion, pentaerythrite, polyether siloxane copolymer lotion.
Wherein, polyolefin elastomer has very high shock resistance；The smoothness of polytetrafluoroethylene (PTFE) energy reinforcing material and
Shock resistance；The outstanding advantages that super glass wool has constitution light, weather-proof, heat-resisting；Polyolefin elastomer, polytetrafluoroethylene (PTFE),
Super glass wool, which is used in compounding, can play coordination reinforcing effect, and wear-resisting weather-proof performance and the surface for significantly improving coating obtained are strong
Degree.
Wherein, polyethylene foam cotton can enhance elasticity and flexility；The smoothness of erucyl amide energy reinforcing material and resistance to
Grind performance；Carbon nano-fiber can improve intensity and toughness, improve the comprehensive mechanical performance of protective coating obtained；Nano zircite
Powder can significantly improve the mechanical strength of material, enhance the rigidity of coating；Nano carborundum powder is with fabulous mechanics and chemically
Can, the addition of nano carborundum powder improves the hardness and wearability of material.Polyethylene foam cotton, erucyl amide, carbon nano-fiber,
Nano oxidized zirconium powder, nano carborundum powder, which are used in compounding, can play coordination reinforcing effect, significantly improve the strong of coating obtained
Degree, surface flatness and wear-resisting property, and make coating obtained that also there is good toughness and suitable elasticity.
Protective coating of the invention can greatly reduce between guide rail body 70 and upper and lower fixture block 111, upper and lower guide bearing 113
Frictional force, be conducive to mutually sliding, moreover it is possible to which the intensity both enhanced postpones service life；In addition also make guide rail body 70 with it is upper
There is suitable elasticity between lower fixture block 111, upper and lower guide bearing 113, prevent stuck phenomenon.
The preparation method of protective coating of the invention is given below comprising following steps:
1) lotion, polyolefin elastomer, polytetrafluoroethylene (PTFE), super glass wool, polyethylene foam cotton and solvent are added to
Stirrer for mixing stirs evenly, and control revolving speed is 500-1200rpm, controlled to 60-150 DEG C, stirs 2-5h；
3) erucyl amide, carbon nano-fiber, nano oxidized zirconium powder, nano carborundum powder and coupling agent are sequentially added, is stirred
Mix 1-3h；
4) curing agent is added, continues to stir 30-90min, obtains protective coating.
Protective coating obtained is sprayed on the inner surface of upper and lower 72 outer surface of flange, card slot 114 and guide groove 115,
Obtain protective coating after drying again.
Below in the specific embodiment for providing a kind of protective coating, to be described further.
After protective coating passes through spray protective coating, then through dry obtained；Protective coating includes the raw material of following parts by weight:
The preparation method of the protective coating the following steps are included:
1) lotion, polyolefin elastomer, polytetrafluoroethylene (PTFE), super glass wool, polyethylene foam cotton and solvent are added to
Stirrer for mixing stirs evenly, and control revolving speed is 500-1200rpm, controlled to 60-150 DEG C, stirs 2-5h；
3) erucyl amide, carbon nano-fiber, nano oxidized zirconium powder, nano carborundum powder and coupling agent are sequentially added, is stirred
Mix 1-3h；
4) curing agent is added, continues to stir 30-90min, obtains protective coating.
Protective coating obtained is sprayed on the inner surface of upper and lower 72 outer surface of flange, card slot 114 and guide groove 115,
Obtain protective coating after drying again.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details.
Claims (10)
1. a kind of inserting needle device of the Needle-driven Robot based on arc-shaped guide rail RCM mechanism, which is characterized in that including arc-shaped guide rail,
The needling mechanism that is arranged on the arc-shaped guide rail, for driving the needling mechanism arcuately to slide on the arc-shaped guide rail
Arcuate movement driving mechanism and be arranged on the arc-shaped guide rail for driving what the arc-shaped guide rail made rotating motion to turn
Dynamic driving mechanism；
The arc-shaped guide rail include guide rail body, be separately positioned on the guide rail body up and down two sides upper flange and lower flange and
Outer toothed portion on the external slideway of the guide rail body is set；
Mounting plate is provided on the needling mechanism, the arcuate movement driving mechanism includes the switching affixed with the mounting plate
Plate, the arcuate movement driving motor being arranged on the pinboard and drive connection are in the output of the arcuate movement driving motor
The external gear engaged with the outer toothed portion of the guide rail body on axis；
The rotating drive mechanism includes loading plate, the rotational drive motor being arranged on the loading plate and one end and described turn
The connecting plate that the output axis connection and the other end of dynamic driving motor are connect with the guide rail body.
2. the inserting needle device of the Needle-driven Robot according to claim 1 based on arc-shaped guide rail RCM mechanism, feature exist
In the bottom of the mounting plate is provided with the upper fixture block and lower fixture block of arrangement symmetrical above and below, and the upper fixture block two sides are provided with
The affixed upper guide bearing with the mounting plate, the lower fixture block two sides are provided with the lower guiding axis affixed with the mounting plate
It holds；
It is provided with card slot on the upper fixture block and the opposite two sides of lower fixture block, is fastened on the guide rail body respectively by card slot
Upper flange and lower flange on；
Guide groove is offered on the bearing outer wall of the upper guide bearing and lower guide bearing, is fastened on respectively by guide groove
On the upper flange and lower flange of the guide rail body.
3. the inserting needle device of the Needle-driven Robot according to claim 1 based on arc-shaped guide rail RCM mechanism, feature exist
In perforation is provided with several apertures on the external gear.
4. the inserting needle device of the Needle-driven Robot according to claim 1 based on arc-shaped guide rail RCM mechanism, feature exist
In the needling mechanism includes box body, is set to the intracorporal linear guide of the box along its length, is arranged and leads in the straight line
Inserting needle sliding block on rail, inner end be arranged on the inserting needle sliding block and outer end be pierced by along its length the box body puncture needle and
Inserting needle driving assembly for driving the inserting needle sliding block to slide in the linear guide, the mounting plate and the box body connect
It connects.
5. the inserting needle device of the Needle-driven Robot according to claim 4 based on arc-shaped guide rail RCM mechanism, feature exist
In the inserting needle sliding block includes the sliding block being slidably arranged in the linear guide, the upper surface for being provided with the sliding block
On sliding slot, the top shoe being slidably arranged in the sliding slot and the puncture needle fixing seat being fixed on the top shoe, it is described
The inner end of puncture needle is arranged in the puncture needle fixing seat；The puncture needle fixing seat side is provided with baffle.
6. the inserting needle device of the Needle-driven Robot according to claim 5 based on arc-shaped guide rail RCM mechanism, feature exist
In being additionally provided with pogo pin assembly in the box body, the pogo pin assembly includes the electromagnet that inserting needle sliding block side is arranged in
And the electromagnet guide rod on the electromagnet is set, the electromagnet guide rod is vertically installed in the side of the baffle, is used for
The top shoe is pushed to slide in the sliding slot.
7. the inserting needle device of the Needle-driven Robot according to claim 6 based on arc-shaped guide rail RCM mechanism, feature exist
In the both ends of the sliding slot are provided with the limited block for being limited to the top shoe；
Taper cushion hole, the bottom of the taper cushion hole are offered on the inner surface that the limited block is contacted with the top shoe
It is connected with spring, the outer end of the spring is connected with buffer board；
The both ends along the direction of motion of the top shoe are provided with for cooperating the taper being inserted into the taper cushion hole slow
Rush column.
8. the inserting needle device of the Needle-driven Robot according to claim 4 based on arc-shaped guide rail RCM mechanism, feature exist
In being provided with the puncture needle guide holder being pierced by for the puncture needle on the box body.
9. the inserting needle device of the Needle-driven Robot according to claim 1 based on arc-shaped guide rail RCM mechanism, feature exist
In, the inserting needle driving assembly include inserting needle motor, the worm gear case being drivingly connected with the output shaft of the inserting needle motor, with
Driving wheel that the output shaft of the worm gear case is drivingly connected is arranged along the length direction of the box body in the driving wheel pair
The driven wheel of side and the synchronous belt being arranged between the driving wheel and driven wheel；The sliding block passes through compressing member and described same
Walk band connection.
10. the inserting needle device of the Needle-driven Robot according to claim 5 based on arc-shaped guide rail RCM mechanism, feature exist
In the inner surface of the upper flange and lower flange outer surface, card slot and guide groove is provided with protective coating, the protective coating
It is made after spray protective coating, then through dry；
The protective coating includes the raw material of following parts by weight:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811549875.1A CN109431609B (en) | 2018-12-18 | 2018-12-18 | Needle insertion device of puncture robot based on arc guide rail RCM mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811549875.1A CN109431609B (en) | 2018-12-18 | 2018-12-18 | Needle insertion device of puncture robot based on arc guide rail RCM mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109431609A true CN109431609A (en) | 2019-03-08 |
| CN109431609B CN109431609B (en) | 2023-11-07 |
Family
ID=65558506
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811549875.1A Active CN109431609B (en) | 2018-12-18 | 2018-12-18 | Needle insertion device of puncture robot based on arc guide rail RCM mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109431609B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110559055A (en) * | 2019-09-20 | 2019-12-13 | 佳木斯大学 | Positioning puncture device for cardiology department |
| CN113180792A (en) * | 2021-05-18 | 2021-07-30 | 马泓 | A piercing depth for supersound guide's multi-angle degree of freedom |
| CN113757255A (en) * | 2021-10-13 | 2021-12-07 | 中南大学 | Steel wire driven bearing arc guide rail |
| CN113855289A (en) * | 2021-11-15 | 2021-12-31 | 北京航空航天大学 | Space five-degree-of-freedom tooth implant implanter |
| CN114877044A (en) * | 2022-05-19 | 2022-08-09 | 真实维度科技控股(珠海)有限公司 | Gear transmission clearance eliminating mechanism and puncture device |
| CN114939884A (en) * | 2022-06-20 | 2022-08-26 | 深圳传世生物医疗有限公司 | Clamping device and equipment |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104146772A (en) * | 2014-07-29 | 2014-11-19 | 北京理工大学 | Robot for accurate diagnosis and treatment of maxillofacial diseases |
| CN105012023A (en) * | 2015-08-19 | 2015-11-04 | 哈尔滨工业大学 | Instrument holding mechanical arm used for minimally-invasive robot |
| CN105105849A (en) * | 2015-07-22 | 2015-12-02 | 北京航空航天大学 | End effector of robot in anterior cruciate ligament reconstruction |
| CN106420018A (en) * | 2016-11-29 | 2017-02-22 | 哈尔滨理工大学 | Flexible trocar concurrent puncture mechanism based on gear transmission |
| CN107374738A (en) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | A kind of intervention operation robot from end and its mobile platform and control method |
| CN108670411A (en) * | 2018-06-04 | 2018-10-19 | 哈尔滨工业大学 | A kind of space apocenter motion using Double-stroke arc-shaped slide rail |
| CN210019643U (en) * | 2018-12-18 | 2020-02-07 | 中国科学院苏州生物医学工程技术研究所 | Needle inserting device of puncture robot based on arc-shaped guide rail RCM mechanism |
-
2018
- 2018-12-18 CN CN201811549875.1A patent/CN109431609B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104146772A (en) * | 2014-07-29 | 2014-11-19 | 北京理工大学 | Robot for accurate diagnosis and treatment of maxillofacial diseases |
| CN105105849A (en) * | 2015-07-22 | 2015-12-02 | 北京航空航天大学 | End effector of robot in anterior cruciate ligament reconstruction |
| CN105012023A (en) * | 2015-08-19 | 2015-11-04 | 哈尔滨工业大学 | Instrument holding mechanical arm used for minimally-invasive robot |
| CN106420018A (en) * | 2016-11-29 | 2017-02-22 | 哈尔滨理工大学 | Flexible trocar concurrent puncture mechanism based on gear transmission |
| CN107374738A (en) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | A kind of intervention operation robot from end and its mobile platform and control method |
| CN108670411A (en) * | 2018-06-04 | 2018-10-19 | 哈尔滨工业大学 | A kind of space apocenter motion using Double-stroke arc-shaped slide rail |
| CN210019643U (en) * | 2018-12-18 | 2020-02-07 | 中国科学院苏州生物医学工程技术研究所 | Needle inserting device of puncture robot based on arc-shaped guide rail RCM mechanism |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110559055A (en) * | 2019-09-20 | 2019-12-13 | 佳木斯大学 | Positioning puncture device for cardiology department |
| CN110559055B (en) * | 2019-09-20 | 2021-05-28 | 佳木斯大学 | Positioning puncture device for cardiology department |
| CN113116478A (en) * | 2019-09-20 | 2021-07-16 | 佳木斯大学 | Positioning puncture device with V-shaped rails for cardiology department |
| CN113116478B (en) * | 2019-09-20 | 2022-08-16 | 佳木斯大学 | Positioning puncture device with V-shaped rails for cardiology department |
| CN113180792A (en) * | 2021-05-18 | 2021-07-30 | 马泓 | A piercing depth for supersound guide's multi-angle degree of freedom |
| CN113757255A (en) * | 2021-10-13 | 2021-12-07 | 中南大学 | Steel wire driven bearing arc guide rail |
| CN113855289A (en) * | 2021-11-15 | 2021-12-31 | 北京航空航天大学 | Space five-degree-of-freedom tooth implant implanter |
| CN113855289B (en) * | 2021-11-15 | 2023-03-03 | 北京航空航天大学 | Space five-degree-of-freedom tooth implant implanter |
| CN114877044A (en) * | 2022-05-19 | 2022-08-09 | 真实维度科技控股(珠海)有限公司 | Gear transmission clearance eliminating mechanism and puncture device |
| CN114939884A (en) * | 2022-06-20 | 2022-08-26 | 深圳传世生物医疗有限公司 | Clamping device and equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109431609B (en) | 2023-11-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109431609A (en) | The inserting needle device of Needle-driven Robot based on arc-shaped guide rail RCM mechanism | |
| CN109431610A (en) | Arc-shaped guide rail RCM inserting needle device for Minimally Invasive Surgery Needle-driven Robot | |
| CN107411821B (en) | Five degree of freedom flexibility Needle-driven Robot | |
| CN209932968U (en) | Arc-shaped guide rail RCM needle inserting device for minimally invasive surgery puncture robot | |
| CN105943095B (en) | A kind of Minimally Invasive Surgery apparatus with flexible wrist | |
| CN107184255A (en) | A kind of ultrasonic per rectum prostate biopsy mechanism | |
| CN105902303B (en) | Friction wheel type casing flexible needle acupuncture treatment mechanism | |
| CN107320183B (en) | Surgical instrument for minimally invasive surgery robot and minimally invasive surgery robot | |
| CN107334530A (en) | A kind of operating theater instruments and micro-wound operation robot for micro-wound operation robot | |
| CN109620411A (en) | Needling mechanism for Minimally Invasive Surgery Needle-driven Robot | |
| CN107775632B (en) | A kind of forearm vein Needle-driven Robot | |
| CN109394342A (en) | The inserting needle device of Needle-driven Robot based on double parallel quadrangle RCM mechanism | |
| CN110074956A (en) | Lower leg massaging component and leg massager including the component | |
| CN209564153U (en) | A kind of Minimally Invasive Surgery instrument | |
| CN201558272U (en) | Reciprocating continuous beating device | |
| CN115153698A (en) | Tissue suturing system | |
| CN207870963U (en) | The surgical instrument and operating robot of operating robot | |
| CN217408875U (en) | Buffer driving device and electric stitching instrument | |
| CN114010246A (en) | Front end bendable rotary electric needle holder for laparoscope | |
| CN209529334U (en) | Needling mechanism for Minimally Invasive Surgery Needle-driven Robot | |
| CN210019643U (en) | Needle inserting device of puncture robot based on arc-shaped guide rail RCM mechanism | |
| CN113633385A (en) | Terminal device of minimally invasive surgery robot | |
| CN211796624U (en) | CT puncture guide frame | |
| CN210019644U (en) | Needle inserting device of puncture robot based on double-parallelogram RCM mechanism | |
| CN106473810A (en) | A kind of transurethral flexible operation tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |