CN110680505B - Eight-degree-of-freedom surgical mechanical arm with closed-loop connecting rod - Google Patents
Eight-degree-of-freedom surgical mechanical arm with closed-loop connecting rod Download PDFInfo
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- CN110680505B CN110680505B CN201910891985.4A CN201910891985A CN110680505B CN 110680505 B CN110680505 B CN 110680505B CN 201910891985 A CN201910891985 A CN 201910891985A CN 110680505 B CN110680505 B CN 110680505B
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- 230000007246 mechanism Effects 0.000 claims description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003187 abdominal effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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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
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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- General Health & Medical Sciences (AREA)
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- Manipulator (AREA)
Abstract
The invention provides an eight-degree-of-freedom surgical mechanical arm with a closed-loop connecting rod, which comprises a position adjusting assembly, a posture adjusting assembly and a surgical instrument, wherein the posture adjusting assembly is connected to the position adjusting assembly and is provided with a telecentric point fixed point characteristic, the surgical instrument is connected to the posture adjusting assembly, the position adjusting assembly is used for adjusting the position of the telecentric fixed point, and the posture adjusting assembly is used for adjusting the posture of the surgical instrument. The beneficial effects of the invention are as follows: the joint arm is connected with the sliding rail component, the position of the telecentric point can be adjusted by multiple degrees of freedom, the posture adjusting system can adjust the posture of the surgical instrument around the telecentric point in multiple directions, the surgical instrument is driven to realize telecentric motion required by minimally invasive surgery, the structure is simple and flexible, the occupied space is small, the system comprises a closed loop connecting rod module, the driving group required by the joint is effectively moved forward, the structure is compact, the movement is stable, the posture is decoupled, and the driving is convenient and flexible.
Description
Technical Field
The invention relates to the field of surgical robots, in particular to an eight-degree-of-freedom surgical mechanical arm with a closed-loop connecting rod.
Background
In recent years, surgical robots have been rapidly developed in the medical field. Meanwhile, the continuous application and development of the minimally invasive surgery in clinical surgery continuously shows the advantages that: the wound is little, and is painful light, and the operation precision is high, and the postoperative resumes soon, for the operation demand of coping different operations, we have all put forward higher requirements to operation precision, motion flexibility and the simple operation of operation robot etc..
The traditional operation robot cannot have telecentric characteristics and cannot be well applied to the medical industry, for example, chinese patent (CN 108274449A) discloses an industrial operation type six-degree-of-freedom serial robot and Chinese patent (CN 104816293A) discloses an eight-degree-of-freedom mobile mechanical arm; with the development of robot industry in the medical industry, a part of surgical robots have telecentric motion characteristics, for example, a minimally invasive abdominal surgical robot is invented by Chinese patent (CN 109009443A), a minimally invasive surgical robot is invented by Chinese patent (CN 107468293A), surgical equipment using the minimally invasive surgical robot and a main operating arm of a minimally invasive surgery is invented by Chinese patent (CN 109091230A). The invention of the patent has telecentric motion characteristics, but most of the inventions adopt complex link mechanisms or complex transmission systems to realize telecentric motion, and the problems of complex driving mode, difficult processing and manufacturing, larger accumulated error, low stability and larger occupied space generally exist. There is therefore a need for a new surgical robot that addresses various problems with the robots described above while having telecentric features.
Disclosure of Invention
In view of the foregoing, embodiments of the present invention provide an eight degree-of-freedom surgical manipulator including a closed-loop linkage, the manipulator having a telecentric dead point and being capable of telecentric motion, the manipulator comprising: a position adjustment assembly, a posture adjustment assembly, and a surgical instrument; the position adjusting assembly comprises a base, a linear slide rail assembly, a first connecting arm, a second connecting arm, a third connecting arm and a fourth connecting arm, and the linear slide rail assembly is arranged on the base; the lower end of the first connecting arm is connected with one end of the second connecting arm through a linear sliding pair, the upper end of the first connecting arm is connected with one end of the second connecting arm through a first revolute pair, the axial direction of the first revolute pair is consistent with that of the linear sliding pair, the other end of the second connecting arm is connected with one end of the third connecting arm through a second revolute pair, the other end of the third connecting arm is connected with one end of the fourth connecting arm through a third revolute pair, the other end of the fourth connecting arm is connected with an arc plate through a fourth revolute pair, the second revolute pair and the third revolute pair are parallel to the axial line of the first revolute pair, and the first, second, third and fourth connecting arms are hollow structures and are respectively provided with driving mechanisms for driving the first, second, third and fourth revolute pairs to rotate; the gesture adjusting assembly comprises an arc-shaped plate, a driving rod, a driven rod and an upper element of the arc-shaped plate, wherein the upper element of the arc-shaped plate comprises an arc-shaped sliding rail, an arc-shaped sliding block, a limiting device and a driving box; the circular arc sliding rail is fixedly arranged on the arc plate, the circular arc sliding block is arranged on the circular arc sliding rail in a sliding way, the limiting devices are arranged at two ends of the circular arc sliding rail and used for limiting the sliding range of the circular arc sliding block, the fourth revolute pair and the third revolute pair are vertical, and the central axis of the circular arc sliding rail and the fourth revolute pair are intersected at one point in space, namely a telecentric fixed point; one end of the driving rod is connected to the arc-shaped plate through a fifth revolute pair, the fifth revolute pair is perpendicular to the axis of the fourth revolute pair, the other end of the driving rod is connected with one end of the driven rod through a sixth revolute pair, the other end of the driven rod is connected with the upper connecting plate of the arc-shaped sliding block through a seventh revolute pair, the axes of the sixth revolute pair and the seventh revolute pair are parallel to the axis of the fifth revolute pair, and a driving mechanism is arranged in the driving box and used for driving the fifth revolute pair to rotate and further driving the arc-shaped sliding block to slide on the arc-shaped sliding rail through the driving rod, the driven rod, the sixth revolute pair and the seventh revolute pair; the connecting plate is arranged on the circular arc sliding block, a linear sliding table sliding along the diameter direction of the circular arc sliding rail is arranged on the connecting plate, a rotating motor is arranged on the linear sliding table, the surgical instrument is arranged on the linear sliding table along the diameter direction of the circular arc sliding rail, the upper end of the surgical instrument is connected to the rotating motor, the linear sliding table drives the surgical instrument to linearly slide along the diameter direction of the circular arc sliding rail, and the rotating motor is used for driving the surgical instrument to rotate; the motion track of the surgical instrument on the linear sliding table is positioned on a straight line, the rotation axis of the surgical instrument, the axis of the fourth revolute pair and the central axis of the circular arc sliding rail are intersected at a telecentric fixed point; the arc-shaped plate, the fifth revolute pair, the driving rod, the sixth revolute pair, the driven rod, the seventh revolute pair, the arc sliding block and the connecting plate form a closed-loop four-bar structure with a telecentric fixed point, and the axis of the fourth revolute pair and the axis of the rotation of the surgical instrument are positioned on the motion plane of the closed-loop four-bar structure; the position adjusting component adjusts the position of the telecentric fixed point through the first, second and third revolute pairs and the linear moving pair, and the gesture adjusting component is used for enabling the surgical instrument to adjust gesture around the telecentric fixed point.
The eight-degree-of-freedom surgical mechanical arm with the closed-loop connecting rod has the beneficial effects that: the mechanical arm uses the four-degree-of-freedom position adjustment assembly to adjust the position of the telecentric fixed point, and the redundant degree of freedom can well avoid singular positions, so that the working space is increased; the gesture adjusting system can adjust the gesture of the surgical instrument around the telecentric fixed point in multiple directions, drives the surgical instrument to realize telecentric motion required by minimally invasive surgery, has simple and flexible structure and small occupied space; the system comprises a closed-loop connecting rod module, effectively forwards moves a driving group required by a joint, has a compact structure, stable motion and decoupled posture, is convenient and flexible to drive, and can be suitable for various surgical environments.
Drawings
Fig. 1 is a schematic diagram of the overall structure of an eight-degree-of-freedom surgical mechanical arm with a closed-loop link according to the present invention.
Fig. 2 is a schematic structural view of a preferred embodiment of the drive assembly of the present invention.
Fig. 3 is a schematic diagram of a closed loop module according to the present invention.
In the above figures: the device comprises a base, a 2-linear sliding rail assembly, a 3-joint arm, a 31-first connecting arm, a 32-second connecting arm, a 33-third connecting arm, a 34-fourth connecting arm, a 35-encoder, a 36-driving motor, a 37-speed reducer, a 38-brake, a 4-arc plate, a 41-driving rod, a 42-driven rod, a 43-driving box, a 44-limiting device, a 45-arc sliding rail, a 46-arc sliding block, a 5-connecting plate, a 51-rotating motor, a 52-linear sliding table, a 6-surgical instrument, a 71-first rotating pair, a 72-second rotating pair, a 73-third rotating pair, a 74-fourth rotating pair, a 75-fifth rotating pair, a 76-sixth rotating pair, a 77-seventh rotating pair, a 91-fourth rotating pair axis, a 92-surgical mechanical axis and an O-telecentric fixed point.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 and 3, an eight degree of freedom surgical manipulator comprising a closed loop linkage, comprising a position adjustment assembly, an attitude adjustment assembly and a surgical instrument 6; the surgical instrument 6 includes, but is not limited to, a scalpel; the posture adjustment assembly comprises a base 1, a linear sliding rail assembly 2 and an articulated arm 3, wherein the linear sliding rail assembly 2 is arranged on the base 1, and the posture adjustment assembly comprises an arc-shaped plate 4, a driving rod 41, a driven rod 42 and an arc-shaped plate upper element.
The articulated arm comprises a first connecting arm 31, a second connecting arm 32, a third connecting arm 33 and a fourth connecting arm 34, wherein the lower end of the first connecting arm 31 is connected with the linear sliding rail assembly 2 through a linear moving pair, the upper end of the first connecting arm 31 is connected with one end of the second connecting arm 32 through a first rotating pair 71, the axial direction of the first rotating pair 71 is consistent with the direction of the linear moving pair, the other end of the second connecting arm 72 is connected with one end of the third connecting arm 33 through a second rotating pair 72, the other end of the third connecting arm 33 is connected with one end of the fourth connecting arm 34 through a third rotating pair 73, the other end of the fourth connecting arm 34 is connected with the arcuate plate 4 through a fourth rotating pair 74, the second rotating pair 72 and the third rotating pair 73 are parallel to the rotating axis of the first rotating pair 71, and the first connecting arm 31, the second connecting arm 32, the third connecting arm 33 and the fourth connecting arm 34 are hollow structures, and the third rotating pair 34 are respectively provided with a first rotating pair 71 and a third rotating pair 72 and a fourth rotating pair 74.
As shown in fig. 2, preferably, the driving mechanism includes an encoder 35, a brake 36, a driving motor 37 and a speed reducer 38, the encoder 35 is coaxially connected with the driving motor 37, an output shaft of the driving motor 37 is coaxially connected with an input shaft of the speed reducer 38 through an output flange, an output shaft of the speed reducer 38 is connected with an articulated arm through an output flange, and the brake 36 is used for locking when power is off, so that the articulated arm maintains a stable state. The driving mechanism may also adopt other driving schemes to drive the first rotating pair 71, the second rotating pair 72, the third rotating pair 73 and the fourth rotating pair 74 to rotate, in addition to the above preferred scheme.
As shown in fig. 1 and 3, the arc-shaped plate 4 is provided with an arc-shaped slide rail 45, an arc-shaped slide block 46, a limiting device 47 and a driving box 43; the circular arc sliding rail 45 is fixedly arranged on the arc plate 4, the circular arc sliding block 46 is slidably arranged on the circular arc sliding rail 45, the limiting devices 47 are arranged at two ends of the circular arc sliding rail 45 and are used for limiting the sliding range of the circular arc sliding block 46, the fourth rotating pair 74 and the third rotating pair 73 are vertical, and the central axis of the circular arc sliding rail 45 and the auxiliary axis of the fourth rotating pair 74 intersect at one point in space, namely a telecentric fixed point O; one end of the driving rod 41 is connected to the arc plate 4 through a fifth revolute pair 75, the fifth revolute pair 75 is perpendicular to the axis of the fourth revolute pair 74, the other end of the driving rod 41 is connected to one end of the driven rod 42 through a sixth revolute pair 76, the other end of the driven rod 42 is connected to the connecting plate 5 on the arc slide block 46 through a seventh revolute pair 77, the axes of the sixth revolute pair 76 and the seventh revolute pair 77 are parallel to the axis of the fifth revolute pair 75, and a driving mechanism is arranged in the driving box 43 and used for driving the fifth revolute pair 75 to rotate, and further drives the arc slide block 46 to slide on the arc slide rail 45 through the driving rod 41, the driven rod 42, the sixth revolute pair 76 and the seventh revolute pair 77.
The connecting plate 5 is arranged on the arc sliding block 45, a linear sliding table 52 sliding along the diameter direction of the arc sliding rail 45 is arranged on the connecting plate 5, a rotating motor 51 is arranged on the linear sliding table 52, the surgical instrument 6 is arranged on the linear sliding table 52 along the diameter direction of the arc sliding rail 45, the upper end of the surgical instrument 6 is connected to the rotating motor 51, the linear sliding table 6 is used for driving the surgical instrument 6 to linearly slide on the linear sliding table 6 along the radial direction of the arc sliding rail 45, and the rotating motor is used for driving the surgical instrument 6 to rotate; the straight line where the motion track of the surgical instrument 6 on the straight line sliding table 52 is located, the axis of the rotation of the surgical instrument, the rotation axis of the fourth revolute pair 74 and the central axis of the circular arc sliding rail are intersected at a telecentric fixed point O;
the arc plate 4, the fifth revolute pair 75, the driving rod 41, the sixth revolute pair 76, the driven rod 42, the seventh revolute pair 77, the arc sliding block 46 and the connecting plate 5 of the gesture adjusting assembly form a closed-loop four-bar structure with a telecentric fixed point, and the axis 91 of the fourth revolute pair and the axis 92 of rotation of the surgical instrument are positioned on a motion plane of the closed-loop four-bar structure; the position adjusting assembly adjusts the position of the telecentric fixed point O through the first, second and third revolute pairs 71, 72 and 73 and the linear sliding pair of the linear sliding rail assembly, and the posture adjusting assembly is used for enabling the surgical instrument to adjust the posture around the telecentric fixed point O.
In this document, terms such as front, rear, upper, lower, etc. are defined with respect to the positions of the components in the drawings and with respect to each other, for clarity and convenience in expressing the technical solution. It should be understood that the use of such orientation terms should not limit the scope of the claimed application.
The embodiments described above and features of the embodiments herein may be combined with each other without conflict.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (1)
1. An eight-degree-of-freedom surgical mechanical arm comprising a closed-loop connecting rod, which is characterized in that: comprises a position adjusting component, a posture adjusting component and a surgical instrument; the position adjusting assembly comprises a base, a linear slide rail assembly, a first connecting arm, a second connecting arm, a third connecting arm and a fourth connecting arm; the linear sliding rail assembly is arranged on the base, the lower end of the first connecting arm is connected with the linear sliding rail assembly through a linear sliding pair, the upper end of the first connecting arm is connected with one end of the second connecting arm through a first rotating pair, the axial direction of the first rotating pair is consistent with that of the linear sliding pair, the other end of the second connecting arm is connected with one end of the third connecting arm through a second rotating pair, the other end of the third connecting arm is connected with one end of the fourth connecting arm through a third rotating pair, the other end of the fourth connecting arm is connected with an arc-shaped plate through a fourth rotating pair, the second rotating pair and the third rotating pair are parallel to the axis of the first rotating pair, and the first, second, third and fourth connecting arms are hollow structures and are respectively provided with driving mechanisms for driving the first, second, third and fourth rotating pairs to rotate; the gesture adjusting component comprises an arc-shaped plate, a driving rod, a driven rod and an upper element of the arc-shaped plate; the upper element of the arc-shaped plate comprises an arc sliding rail, an arc sliding block, a limiting device and a driving box; the arc sliding rail is fixedly arranged on the arc plate, the arc sliding block is arranged on the arc sliding rail in a sliding manner, and the limiting device is arranged at two ends of the arc sliding rail and used for limiting the sliding range of the arc sliding block; the central axis of the circular arc sliding rail and the axis of the fourth revolute pair are intersected at one point in space, namely a telecentric fixed point; one end of the driving rod is connected to the arc-shaped plate through a fifth revolute pair, the fifth revolute pair is perpendicular to the axis of the fourth revolute pair, the other end of the driving rod is connected with one end of the driven rod through a sixth revolute pair, the other end of the driven rod is connected with the upper connecting plate of the arc-shaped sliding block through a seventh revolute pair, the axes of the sixth revolute pair and the seventh revolute pair are parallel to the axis of the fifth revolute pair, and a driving mechanism is arranged in the driving box and used for driving the fifth revolute pair to rotate and further driving the arc-shaped sliding block to slide on the arc-shaped sliding rail through the driving rod, the driven rod, the sixth revolute pair and the seventh revolute pair; the connecting plate is arranged on the circular arc sliding block, a linear sliding table sliding along the diameter direction of the circular arc sliding rail is arranged on the connecting plate, a rotating motor is arranged on the linear sliding table, the surgical instrument is arranged on the linear sliding table along the diameter direction of the circular arc sliding rail, the upper end of the surgical instrument is connected to the rotating motor, the linear sliding table is used for driving the surgical instrument to linearly slide along the diameter direction of the circular arc sliding rail, and the rotating motor is used for driving the surgical instrument to rotate; the motion track of the surgical instrument on the linear sliding table is positioned on a straight line, the rotation axis of the surgical instrument, the axis of the fourth revolute pair and the central axis of the circular arc sliding rail are intersected at a telecentric fixed point; the arc-shaped plate, the fifth revolute pair, the driving rod, the sixth revolute pair, the driven rod, the seventh revolute pair, the arc sliding block and the connecting plate form a closed-loop four-bar structure with a telecentric fixed point, and the axis of the fourth revolute pair and the axis of the rotation of the surgical instrument are positioned on the motion plane of the closed-loop four-bar structure; the position adjusting component is used for adjusting the position of the telecentric fixed point through the first, second and third revolute pairs and the linear moving pair, and the gesture adjusting component is used for enabling the surgical instrument to adjust gesture around the telecentric fixed point;
the driving mechanism comprises an encoder, a brake, a driving motor and a speed reducer, wherein the encoder is coaxially connected with the driving motor, an output shaft of the driving motor is coaxially connected with an input shaft of the speed reducer through an output flange, an output shaft of the speed reducer is connected with a joint arm through the output flange, and the brake is used for locking when power is off, so that the joint arm maintains a stable state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910891985.4A CN110680505B (en) | 2019-09-20 | 2019-09-20 | Eight-degree-of-freedom surgical mechanical arm with closed-loop connecting rod |
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| CN201910891985.4A CN110680505B (en) | 2019-09-20 | 2019-09-20 | Eight-degree-of-freedom surgical mechanical arm with closed-loop connecting rod |
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| CN110680505A CN110680505A (en) | 2020-01-14 |
| CN110680505B true CN110680505B (en) | 2024-05-17 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111991086A (en) * | 2020-08-20 | 2020-11-27 | 河北工业大学 | Medical minimally invasive surgery robot and control method |
| CN114159106B (en) * | 2020-09-11 | 2024-03-22 | 苏州威森特医疗机器人有限公司 | Telecentric fixed point structure based on steel belt transmission for minimally invasive surgery |
| CN112932673B (en) * | 2021-02-03 | 2022-06-03 | 山东省千佛山医院 | Mechanical arm layout structure of minimally invasive surgical robot |
| CN113100951A (en) * | 2021-04-08 | 2021-07-13 | 天津大学 | Brand-new dental implantation robot structure |
| CN115383787A (en) * | 2021-05-25 | 2022-11-25 | 敏捷医疗科技(苏州)有限公司 | Mechanical arm and control method thereof |
| CN114098978B (en) * | 2021-11-12 | 2024-06-25 | 艺柏湾医疗科技(上海)有限公司 | A robotic arm for minimally invasive surgery |
| CN114010322A (en) * | 2021-11-16 | 2022-02-08 | 江苏省肿瘤医院 | Head and neck tumour operation robot |
| CN114886572B (en) * | 2022-07-13 | 2022-11-08 | 杭州迪视医疗生物科技有限公司 | Main hand rocker in ophthalmic surgery |
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