CN111195155B - Eight-degree-of-freedom minimally invasive surgery robot - Google Patents
Eight-degree-of-freedom minimally invasive surgery robot Download PDFInfo
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- CN111195155B CN111195155B CN202010034648.6A CN202010034648A CN111195155B CN 111195155 B CN111195155 B CN 111195155B CN 202010034648 A CN202010034648 A CN 202010034648A CN 111195155 B CN111195155 B CN 111195155B
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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
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
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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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Abstract
The invention discloses an eight-degree-of-freedom minimally invasive surgery robot, which comprises a robot body base, a driving mechanism arranged on the base and a surgical instrument box connected with the driving mechanism; the driving mechanism comprises a Z-axis rotation driving device, an X-axis rotation driving device and an RCM telecentric mechanism, and the RCM telecentric mechanism comprises a Y-direction rotation driving mechanism and an X-direction rotation driving mechanism; the surgical instrument box comprises an end effector, a transmission box and a base, wherein the base is fixedly connected onto the RCM telecentric mechanism through a bolt, the transmission box transmits motion to the end effector through a crank-link mechanism, and the end effector performs corresponding adjustment motion according to the actual situation of a surgery through a parallel mechanism to reach a reasonable operation area in the surgery process.
Description
Technical Field
The invention relates to a robot, in particular to an eight-degree-of-freedom minimally invasive surgery robot.
Background
Minimally invasive abdominal surgery is a part of modern medical surgery and is widely applied to clinic to treat various human abdominal diseases, but the traditional abdominal surgery needs combination of eyes and hands of doctors, the surgery is carried out by the experience of the doctors, shaking is inevitable in the surgery process, the wound area is too large, the slow postoperative recovery of patients occurs, and meanwhile, long-time standing surgery causes deviation of the precision degree of surgical instruments due to fatigue operation of the doctors.
The surgical operation robot has outstanding advantages in the aspects of stability, safety and feasibility, can increase the flexibility and accuracy of the operation, solves the problems of fatigue, interference and the like caused by hand tremor, thereby reducing the operation time, relieving the pain of a patient, improving the operation quality and success rate and reducing the medical cost, but the prior common eight-degree-of-freedom minimally invasive operation robot has certain defects in the degree of freedom and the motion mode of a main operating hand, a common operating mechanism is arranged on a robot with 4 degrees of freedom, the degree of freedom of the minimally invasive operation robot is less, the execution precision of complex actions is not high, the inertia is larger, the gravity balance is incomplete and the motion is not flexible, a relatively ideal degree of automation and intelligence cannot be achieved. Therefore, the invention provides the eight-degree-of-freedom minimally invasive surgical robot, and the robot has the advantages of coordinated actions of all parts, good synchronism and flexible aerial posture adjustment.
Disclosure of Invention
The invention provides an eight-degree-of-freedom minimally invasive surgery robot, aiming at solving the technical problems of less degree of freedom, uncoordinated action, poor synchronism, automation, unsatisfactory intellectualization and the like of the minimally invasive surgery robot.
An eight-degree-of-freedom minimally invasive surgery robot comprises a robot body base, a driving mechanism arranged on the robot body base and a surgery mechanical box connected with the driving mechanism, wherein the driving mechanism comprises a Z-axis rotation driving device, an X-axis rotation driving device and an RCM telecentric device which are sequentially connected, the RCM telecentric device is connected with the surgery mechanical box, the Z-axis rotation driving device drives the X-axis rotation driving device, the RCM telecentric device and the surgery mechanical box to rotate along the Z axis, the X-axis rotation driving device drives the RCM telecentric device and the surgery mechanical box to rotate along the X axis, and the RCM telecentric device drives the surgery mechanical box to rotate along the X axis and the Y axis; the RCM telecentric device comprises a Y-direction rotation driving mechanism, an X-direction rotation driving mechanism and a linkage mechanism;
the surgical machine box comprises a machine box base, a transmission box and an end actuator, wherein the machine box base comprises three first motors, three transmission mechanisms, two fixed plates which are arranged in the inner cavity of the machine box base at equal intervals and a first end plate arranged at the top of the machine box base, the first motors are connected with the transmission mechanisms, the transmission mechanisms transmit power to the transmission box, the transmission box comprises a second motor, a parallel rotary rod, three parallel telescopic rods, a gear transmission mechanism and three crank block mechanisms, the second motor is arranged at the tail part of the outer side of a box body of the transmission box, one end of the gear transmission mechanism is connected with the second motor, the other end of the gear transmission mechanism is connected with the parallel rotary rod, the crank block mechanism is used for transmitting the power of the transmission mechanism in the machine box base to the parallel telescopic rods, the crank block mechanism comprises a front crank, a coupling block, a sliding block and an upper interface, the upper interface is, the other end of the front crank is hinged with one end of a coupling block, the other end of the coupling block is hinged with one end of a sliding block, and the sliding block is rotationally connected with a parallel telescopic rod; the end effector comprises universal joints arranged at the tail ends of the parallel telescopic rods, a lower moving platform used for realizing pitching motion of the end effector, an upper moving platform used for realizing autorotation motion of the end effector and a multi-link mechanism used for realizing clamping motion of the end effector, the three parallel telescopic rods are arranged in a regular triangle, and one parallel rotary rod is positioned in the center.
Further, drive mechanism includes first bevel gear, second bevel gear, bevel gear axle and lower interface, and first bevel gear is connected with first motor shaft, and second bevel gear and bevel gear axle one end fixed key-type connection, second bevel gear and first bevel gear mesh mutually, are provided with antifriction bearing between bevel gear axle and the base box, and the bevel gear axle can rotate in the base box, and the other end and the lower interface fixed key-type connection of bevel gear axle are provided with between lower interface and the base box and pass through the lid.
Further, gear drive includes first cylinder straight-teeth gear, second cylinder straight-teeth gear and gear shaft, and first cylinder straight-teeth gear is connected with second motor shaft, and second cylinder straight-teeth gear meshes with first cylinder straight-teeth gear mutually and fixes in gear shaft one end, is provided with antifriction bearing between gear shaft and the box, and the gear shaft can rotate in the transmission case, the gear shaft other end and parallelly connected rotary rod fixed connection.
Furthermore, the lower moving platform comprises three center legs arranged in a regular triangle and a through hole arranged in the center of the lower moving platform, and the three center legs penetrate through the through hole and are respectively hinged with the universal joint of the parallel telescopic rod;
the upper moving platform comprises a center hole arranged at the center of the upper moving platform, a center rod arranged in the center hole, and a circular cylinder arranged between the center hole and the center rod, the circular cylinder is in clearance fit with the upper moving platform, the circular cylinder is in interference fit with the center rod and the lower moving platform, and the tail end of the center rod is hinged with a universal joint of a rotating parallel link rod.
Further, many link mechanism includes two first connecting rods, two second connecting rods and long rod, two first connecting rod one ends are articulated with well core rod one end, and the other end of two first connecting rods is articulated with two second connecting rods respectively, long rod runs through the intersection of two second connecting rods and is connected with two second connecting rod rotations, long rod runs through fixed connection on last moving platform annular wall.
Furthermore, the transmission case still includes the transmission case box, sets up the operation section of thick bamboo and the rectangle inner chamber of transmission case box in transmission case box one side, three parallelly connected telescopic links and a parallelly connected rotary rod pass the operation section of thick bamboo, slider-crank mechanism sets up at the rectangle inner chamber, transmission case box surface sets up slider-crank mechanism and goes up the interface.
Furthermore, the Z-axis rotation driving device comprises a base box, a first cylindrical arm and a joint box which are sequentially connected, wherein the base box comprises a third motor, a first gear pair, a first driven shaft, a first transparent cover and a flange plate, the third motor is vertically laid on a fixing plate of an inner cavity of the base box, the first gear pair is composed of a first small gear and a first large gear which are mutually meshed, the first small gear is connected with an output shaft of the third motor, the first large gear is fixedly connected with one end of the first driven shaft, the first driven shaft is laid along the Z-axis direction and penetrates through the first transparent cover to be connected with the flange plate through a flat key, a rolling bearing is arranged between the first driven shaft and the base box, the first transparent cover is connected with a bolt on the inner wall of the base box, the flange plate is fixedly connected with one end of the first cylindrical arm, and the other end of the first cylindrical arm is connected with;
the X-axis rotation driving device comprises a fourth motor, a second gear pair, a second driven shaft, a second transparent cover and a convex plate, the fourth motor is laid on a joint box inner cavity fixing plate along the X-axis direction, the second gear pair comprises a second pinion and a second gear wheel which are meshed with each other, the second pinion is connected with an output shaft of the fourth motor, the second gear wheel is connected with one end of the second driven shaft in a fixed key mode, the second driven shaft is laid along the X-axis direction and penetrates through the second transparent cover, a rolling bearing is arranged between the second driven shaft and the joint box, the second transparent cover is connected with a joint box inner wall screw, one end of the second driven shaft is fixedly connected with a second cylindrical arm through the transparent cover screw, and the convex plate is connected with an RCM telecentric device.
Furthermore, the RCM telecentric device further comprises a second connecting plate and a third connecting plate, the second connecting plate is connected with a convex plate screw of the cylindrical arm, the third connecting plate is connected with a linkage mechanism screw, the Y-direction rotary driving mechanism is connected with the cylindrical arm, the X-direction rotary driving mechanism is connected with the side face of the linkage mechanism, one end of the linkage mechanism is connected with the cylindrical arm, and the other end of the linkage mechanism is connected with the base of the operation mechanical box.
Furthermore, the Y-direction rotation driving mechanism comprises a fifth motor and a third gear pair driven by the fifth motor, the fifth motor is fixed on the second connecting plate along the Y-axis direction, the fifth gear pair comprises a first incomplete straight-tooth gear and a first cylindrical straight-tooth gear which are meshed with each other, the first incomplete straight-tooth gear is installed on the linkage mechanism along the Y-axis direction, the first cylindrical straight-tooth gear is connected with an output shaft of the fifth motor, and the fifth motor drives the linkage mechanism to perform rotary motion along the Y-axis direction through the first cylindrical straight-tooth gear and the first incomplete straight-tooth gear;
the X-direction rotation driving mechanism comprises a sixth motor and a fourth gear pair driven by the sixth motor, the sixth motor is fixed on the third connecting plate along the X-axis direction, the fourth gear pair consists of a second incomplete straight-tooth gear and a second cylindrical straight-tooth gear which are meshed with each other, the second incomplete straight-tooth gear is installed on the linkage mechanism along the X-axis direction, the second cylindrical straight-tooth gear is connected with an output shaft of the sixth motor, and the sixth motor drives the linkage mechanism to do rotation motion along the X-axis direction through the second cylindrical straight-tooth gear and the second incomplete straight-tooth gear;
the linkage mechanism comprises a U-shaped frame, a first coding shaft and a third transparent cover which are used for connecting the U-shaped frame and a cylindrical arm convex plate, a second coding shaft and a fourth transparent cover which are used for connecting the U-shaped frame and a connecting rod, one end of the first coding shaft penetrates through the convex plate and a second connecting plate and is in key connection with a first incomplete straight gear, the other end of the first coding shaft penetrates through the bottom surface of the U-shaped frame and is in bolt connection with the bottom surface of the U-shaped frame, a rolling bearing is arranged between the first coding shaft and the second connecting plate, the third transparent cover is arranged at the tail part of the first coding shaft and the convex plate, the convex plate is in screw connection with the third transparent cover, one end of the second coding shaft penetrates through two side walls of the U-shaped frame, the other end of the second coding shaft penetrates through the fourth incomplete gear in key connection, the third connecting plate and the fourth transparent cover are arranged at the tail part of the second coding shaft, the fifth transparent cover is in screw connection, the side wall of the U-shaped frame is connected with a fourth transparent cover screw, a rolling bearing is arranged between the second coding shaft and the third connecting plate, and the second coding shaft is fixedly connected with the connecting rod.
Has the advantages that:
1) the invention has simple integral structure, small volume, large rigidity, large movement space, good action coordination among all moving parts, flexible operation and control, stable operation and light weight, and particularly reduces the burden on a main manipulator and the gravity error of surgical instruments caused by the load.
2) The invention adopts a master-slave control method, utilizes the characteristics of good flexibility, high operation stability, accurate positioning and high structure precision of the robot, improves the flexibility and accuracy of the operation by using the coordinated operation of two hands to replace the traditional minimally invasive operation, solves the problems of fatigue, interference and the like caused by poor flexibility and hand tremor in the operation, thereby reducing the operation time, relieving the pain of a patient, improving the operation quality and success rate and reducing the medical cost.
Drawings
FIG. 1 is an isometric view of a robot according to the present invention;
FIG. 2 is a front view of the robot of the present invention;
FIG. 3 is a side view of the robot of the present invention;
FIG. 4 is a top view of the robot of the present invention;
FIG. 5 is a front view of the base of the surgical instrument pod of the present invention;
FIG. 6 is a top view of the surgical tool box drive housing of the present invention shown removed from the cover;
FIG. 7 is a front view of the surgical tool box transmission of the present invention;
FIG. 8 is a front view of an end effector of the surgical robotic cassette of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
For convenience of description, the length direction of the horizontal arm shown in fig. 2 is defined as the Y-axis direction, the height direction of the base is defined as the Z-axis direction, and the direction orthogonal to the plane formed by the Y-axis and the Z-axis is defined as the X-axis direction.
As shown in fig. 1 to 8, an eight-degree-of-freedom minimally invasive surgical robot comprises a base, a driving mechanism arranged above the base and a surgical mechanical box connected with the driving mechanism,
the driving mechanism comprises a Z-axis rotation driving device 1, an X-axis rotation driving device 2 and an RCM telecentric device 3, the Z-axis rotation driving device is used for driving the X-axis rotation device, the RCM telecentric device and the surgical machine box to rotate along the Z axis, the X-axis rotation device is used for driving the RCM telecentric device and the surgical machine box to rotate along the X axis, and the RCM telecentric device is used for driving the surgical machine box to rotate along the X axis and the Y axis;
specifically speaking: the surgical mechanical box comprises a mechanical box base 4, a transmission box 5 and an end effector 6, wherein the mechanical box base comprises three first motors 4-1 which are arranged in an axisymmetric manner, a transmission mechanism for transmitting the power of the three first motors 4-1 which are arranged in the axisymmetric manner to the transmission box 5, two fixing plates 4-3 which are arranged in an inner cavity of the base box body 4-2 at equal intervals, and a first end plate 4-4 which is arranged outside the base box body, and the three first motors are arranged on the same plane;
the transmission mechanism comprises a first bevel gear 4-5, a second bevel gear 4-6, a bevel gear shaft 4-7 and a lower interface 4-8, the first bevel gear 4-5 is fixedly connected to a rotating shaft of the first motor 4-1 in a keyed mode, the second bevel gear 4-6 is fixedly connected with one end of the bevel gear shaft 4-7 in a keyed mode, the second bevel gear 4-6 is meshed with the first bevel gear 4-5, a sixth rolling bearing 4-8 is arranged between the bevel gear shaft 4-7 and the box body 4-2, the bevel gear shaft 4-7 can rotate in the box body 4-2, the other end of the bevel gear shaft 4-7 is fixedly connected with the lower interface 4-9 in a keyed mode, and a sixth transparent cover 4-10 is arranged between the lower interface 4-9 and the base box body 4-;
the transmission case 5 comprises a second motor 5-2 arranged at the tail part of the outer side of a transmission case body 5-1, a parallel rotary rod 5-3, three parallel telescopic rods 5-4, a gear transmission mechanism used for transmitting the power of the second motor 5-2 to the parallel rotary rod 5-3, and a crank block mechanism used for transmitting the power in the base 4 of the instrument case to the parallel telescopic rods 5-4, wherein the three parallel telescopic rods are arranged in a regular triangle, and one parallel rotary rod is positioned at the center.
The gear transmission mechanism comprises a first cylindrical straight gear 5-5, a second cylindrical straight gear 5-6 and a gear shaft 5-7, the first cylindrical straight gear 5-5 is fixedly connected to a rotating shaft of a second motor 5-2, the second cylindrical straight gear 5-6 is meshed with the first cylindrical straight gear 5-5 and is fixed at one end of the gear shaft 5-7, a seventh rolling bearing 5-8 is arranged between the gear shaft 5-7 and a box body 5-1, the gear shaft 5-7 can rotate in the box body 5-1, and the other end of the gear shaft 5-7 is fixedly connected with a rotating rod 5-3;
the crank-slider mechanism comprises a front crank 5-9, a coupling block 5-10, a slider 5-11 and an upper interface 5-12, wherein the upper interface 5-12 is fixedly connected with one end of the front crank 5-9 in a fixed key mode, the other end of the front crank 5-9 is hinged with one end of the coupling block 5-10, the other end of the coupling block 5-10 is hinged with one end of the slider 5-11, and the slider 5-11 is fixedly and rotatably connected with a parallel telescopic rod 5-4;
the end effector 6 comprises a universal joint 6-1 arranged at the tail end of the parallel rod, a lower moving platform 6-2 used for realizing pitching motion of the end effector, an upper moving platform 6-3 used for realizing autorotation motion of the end effector and a multi-link mechanism used for realizing clamping motion of the end effector;
the lower moving platform comprises three center legs 6-4 arranged in a regular triangle and a through hole arranged in the center of the platform, the three center legs 6-4 are hinged with universal joints of the three parallel connecting rods 5-4, and the lower moving platform 6-2 finishes pitching action under the telescopic motion of the three parallel connecting rods 5-4;
the upper moving platform 6-3 comprises a center hole arranged in the center of the platform, a center rod 6-5 arranged in the center hole and a circular cylinder 6-6 arranged between the center hole and the center rod 6-5, the circular cylinder 6-6 is in clearance fit with the upper moving platform 6-3, the circular cylinder 6-6 is in interference fit with the center rod 6-5 and the lower moving platform 6-2, the tail end 6-5 of the center rod is hinged with a universal joint of a rotating and connecting rod 5-3, and the lower moving platform 6-2 completes rotation under the rotating action of the rotating rod and the connecting rod 5-3;
the multi-link mechanism comprises two first connecting rods 6-7 arranged at one end of a central rod 6-5, a long rod 6-8 arranged on the annular wall of an upper moving platform 6-3, two second connecting rods 6-9 arranged on the long rod 6-8 and penetrating through the two second connecting rods 6-9, one ends of the two first connecting rods 6-7 are hinged with the central rod 6-5 in a distributed mode, the other ends of the first connecting rods 6-7 are hinged with one ends of the two second connecting rods 6-9, the long rod 6-8 penetrates through and is fixedly connected with the annular wall of the upper moving platform 6-3, the long rod 6-8 is rotatably connected with the two second connecting rods 6-9, and the two second connecting rods 6-9 perform clamping movement under the telescopic movement of the central rod 6-5 relative to a lower platform 6-2;
specifically, the transmission case body 5-1 comprises an operation barrel 5-13 at one side of the transmission case body 5-1 and a rectangular inner cavity of the transmission case body 5-1, three parallel telescopic rods 5-4 and a parallel rotating rod 5-3 extend outwards through the operation barrel 5-13, the crank block mechanism is arranged in the rectangular inner cavity, and an upper interface 5-12 of the crank block mechanism is arranged on the surface of the transmission case body 5-1;
specifically, the Z-axis rotation driving device 1 comprises a base box 1-1 for mounting the Z-axis rotation driving mechanism, a cylindrical arm 1-2 which performs rotation motion along the Z-axis direction based on the upper side of the base, and a joint box 1-3 for mounting the X-axis rotation driving device at one end of the arm;
specifically, the base box 1-1 comprises a third motor 1-4 arranged inside, a first gear pair driven by the third motor, a first driven shaft 1-7, a first transparent cover 1-8 and a flange plate 1-9, the third motor 1-4 is vertically laid on an inner cavity fixing plate of the base box 1-1, the first gear pair comprises a first pinion 1-5 and a first large gear 1-6 matched with the first pinion, the first pinion 1-5 is connected with an output shaft of the third motor 1-4, the first large gear 1-6 is meshed with the first pinion 1-5 and is connected with one end of the first driven shaft 1-7 through a fixed key, the first driven shaft 1-7 is laid along the Z-axis direction and penetrates through the first transparent cover 1-8 to be connected with the flange plate 1-9 through a flat key, and a first rolling bearing 1-10 is arranged between the first driven shaft 1-7 and the base box 1-1 The first transparent cover 1-8 is connected with the inner wall of the base box 1-1 through a bolt, and the third motor 1-4 drives the first small gear 1-5 to be linked with the first large gear 1-6 to rotate along the Z-axis direction, so that the first Z-direction cylindrical arm 1-2 and the joint box 1-3 are driven to synchronously rotate along the Z-axis direction through the first driven shaft 1-7 and the flange plate 1-9;
specifically, the X-axis rotation driving device 2 comprises a fourth motor 2-1 arranged in an inner cavity of a joint box 1-3, a second gear pair driven by the fourth motor, the second gear pair comprises a second small gear 2-2, a second large gear 2-3, a second driven shaft 2-4, a second transparent cover 2-5 and a convex plate 2-6 used for connecting an RCM telecentric device, the fourth motor 2-1 is laid on a fixing plate of the inner cavity of the joint box 1-3 and laid along the X-axis direction, the second small gear 2-2 is connected with an output shaft of the fourth motor 2-1, the second large gear 2-3 is meshed with the second small gear 2-2 and connected with one end of the second driven shaft 2-4 in a fixed key manner, the second driven shaft 2-4 is laid along the X-axis direction and penetrates through the second transparent cover 2-5, a second rolling bearing 2-7 is arranged between a second driven shaft 2-4 and a joint box 1-3, a second transparent cover 2-5 is in screw connection with the inner wall of the joint box 1-3, one end of the second driven shaft 2-4 is fixedly connected with a second cylindrical arm 2-8 rotating along the X-axis direction through a transparent cover 2-5 screw, and a fourth motor 2-1 drives a second small gear 2-2 to be linked with a second large gear 2-3 to rotate along the X-axis direction, so that the second driven shaft 2-4 drives the X-direction second cylindrical arm 2-8 and the RCM telecentric device 3 to synchronously rotate along the X-axis direction;
specifically, the RCM telecentric device 3 comprises a Y-direction rotation driving mechanism, an X-direction rotation driving mechanism, a second connecting plate 3-1, a third connecting plate 3-2 and a linkage mechanism, wherein the second connecting plate 3-1 is in screw connection with a convex plate 2-6 of a second cylindrical arm 2-8, the third connecting plate 3-2 is in screw connection with the linkage mechanism, the Y-direction rotation driving mechanism and the bottom end of the linkage mechanism are connected with the second cylindrical arm 2-8, the Y-direction rotation driving mechanism is used for driving the linkage mechanism to make rotational motion along the Y-axis direction, the X-direction rotation driving mechanism is connected with the side surface of the linkage mechanism, the X-direction rotation driving mechanism is used for driving the linkage mechanism to make rotational motion along the X-axis direction, and the linkage mechanism is connected with the base 4 of the surgical machine box;
the Y-direction rotation driving mechanism comprises a fifth motor 3-3 and a third gear pair driven by the fifth motor, the fifth motor 3-3 is fixed on the second connecting plate 3-1 along the Y-axis direction, a first incomplete straight gear 3-4 is installed on the linkage mechanism along the Y-axis direction, a first cylindrical straight gear 3-5 is connected with an output shaft of the fifth motor 3-3, the first cylindrical straight gear 3-5 is meshed with the first incomplete straight gear 3-4, and the fifth motor 3-3 drives the linkage mechanism to rotate along the Y-axis direction through the first cylindrical straight gear 3-5 and the first incomplete straight gear 3-4;
the X-direction rotation driving mechanism comprises a sixth motor 3-6 and a fourth gear pair driven by the sixth motor, the sixth motor 3-6 is fixed on the third connecting plate 3-2 along the X-axis direction, the fourth gear pair comprises a second incomplete straight-tooth gear 3-7 and a second cylindrical straight-tooth gear 3-8 which are matched, the second incomplete straight-tooth gear 3-7 is installed on the linkage mechanism along the X-axis direction, the second cylindrical straight-tooth gear 3-8 is connected with an output shaft of the sixth motor 3-6, the second cylindrical straight-tooth gear 3-8 is meshed with the second incomplete straight-tooth gear 3-7, and the sixth motor 3-6 drives the linkage mechanism to rotate along the X-axis direction through the second cylindrical straight-tooth gear 3-8 and the second incomplete straight-tooth gear 3-7;
specifically, the linkage mechanism comprises a U-shaped frame 3-9, a first coding shaft 3-10 and a third transparent cover 3-11 thereof which are used for connecting the U-shaped frame and a Y-direction cylindrical arm convex plate 2-6, a second coding shaft 3-13 and a fourth transparent cover 3-14 thereof which are used for connecting the U-shaped frame 3-9 and a connecting rod 3-12, one end of the first coding shaft 3-10 penetrates through the Y-direction cylindrical arm convex plate 2-6 and a second connecting plate 3-1, a third rolling bearing 3-15 is arranged between the first coding shaft 3-10 and the second connecting plate 3-1, a third transparent cover 3-11 is arranged at the tail part of the first coding shaft 3-10 and the Y-direction cylindrical arm convex plate 2-6 and is connected with the Y-direction arm convex plate 2-6 through a screw, the first coding shaft 3-10 is fixedly connected with a first incomplete straight gear 3-4, the other end of the first coding shaft 3-10 is connected with the bottom surface of the U-shaped frame 3-9 through a bolt, one end of the second coding shaft 3-13 penetrates through two side walls of the U-shaped frame 3-9, a fourth rolling bearing 3-16 is arranged between the second coding shaft 3-13 and the two side walls of the U-shaped frame 3-9, a fourth transparent cover 3-14 in the penetrating position is in screw connection with the second coding shaft 3-13, the other end of the second coding shaft 3-13 is in fixed key connection with the second incomplete straight gear 3-7, the tail part of the other end of the second coding shaft 3-13 penetrates through a third connecting plate 3-2, a fourth transparent cover 3-14 in the penetrating position is in screw connection with the second coding shaft 3-13, a fifth rolling bearing 3-18 is arranged between the second coding shaft 3-13 and the third connecting plate 3-2, and the second coding shaft 3-13 between the two walls of the U-shaped frame 3-9;
it should be noted that the first, second, third, fourth, fifth, and sixth motors are all servo motors and are controlled by a computer control system, and the computer system controls the movement track, the positioning, and the adjustment of the aerial posture of the surgical arm by using a three-dimensional image navigation technology.
The Z-axis rotation driving device and the X-axis rotation driving device form posture adjustment with two degrees of freedom, the RCM telecentric mechanism device forms motion center adjustment with two degrees of freedom, and rotation, pitching and paw opening and closing of the end effector form instrument adjustment with four degrees of freedom.
Parts which are not described in the invention can be realized by adopting or referring to the prior art.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.
Furthermore, the terms "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (8)
1. An eight-degree-of-freedom minimally invasive surgical robot is characterized in that: the robot comprises a robot body base, a driving mechanism arranged on the robot body base and a surgical mechanical box connected with the driving mechanism, wherein the driving mechanism comprises a Z-axis rotation driving device, an X-axis rotation driving device and an RCM telecentric device which are sequentially connected, the RCM telecentric device is connected with the surgical mechanical box, the Z-axis rotation driving device drives the X-axis rotation driving device, the RCM telecentric device and the surgical mechanical box to rotate along the Z axis, the X-axis rotation driving device drives the RCM telecentric device and the surgical mechanical box to rotate along the X axis, and the RCM telecentric device drives the surgical mechanical box to rotate along the X and Y axes; the RCM telecentric device comprises a Y-direction rotation driving mechanism, an X-direction rotation driving mechanism and a linkage mechanism;
the surgical machine box comprises a machine box base, a transmission box and an end actuator, wherein the machine box base comprises three first motors, three transmission mechanisms, two fixed plates which are arranged in the inner cavity of the machine box base at equal intervals and a first end plate arranged at the top of the machine box base, the first motors are connected with the transmission mechanisms, the transmission mechanisms transmit power to the transmission box, the transmission box comprises a second motor, a parallel rotary rod, three parallel telescopic rods, a gear transmission mechanism and three crank block mechanisms, the second motor is arranged at the tail part of the outer side of a box body of the transmission box, one end of the gear transmission mechanism is connected with the second motor, the other end of the gear transmission mechanism is connected with the parallel rotary rod, the crank block mechanism is used for transmitting the power of the transmission mechanism in the machine box base to the parallel telescopic rods, the crank block mechanism comprises a front crank, a coupling block, a sliding block and an upper interface, the upper interface is, the other end of the front crank is hinged with one end of a coupling block, the other end of the coupling block is hinged with one end of a sliding block, and the sliding block is rotationally connected with a parallel telescopic rod; the end effector comprises a universal joint arranged at the tail end of the parallel telescopic rods, a lower moving platform used for realizing the pitching motion of the end effector, an upper moving platform used for realizing the self-rotating motion of the end effector and a multi-link mechanism used for realizing the clamping motion of the end effector, the three parallel telescopic rods are arranged in a regular triangle, and one parallel rotary rod is positioned at the central position; the Z-axis rotation driving device comprises a base box, a first cylindrical arm and a joint box which are sequentially connected, wherein the base box comprises a third motor, a first gear pair, a first driven shaft, a first transparent cover and a flange plate, the third motor is vertically laid on a fixing plate of an inner cavity of the base box, the first gear pair is composed of a first small gear and a first large gear which are meshed with each other, the first small gear is connected with an output shaft of the third motor, the first large gear is fixedly connected with one end of the first driven shaft, the first driven shaft is laid along the Z-axis direction and penetrates through the first transparent cover to be connected with the flange plate through a flat key, a rolling bearing is arranged between the first driven shaft and the base box, the first transparent cover is connected with the inner wall of the base box through a bolt, the flange plate is fixedly connected with one end of the first cylindrical arm, and the other end of the first cylindrical;
the X-axis rotation driving device comprises a fourth motor, a second gear pair, a second driven shaft, a second transparent cover and a convex plate, the fourth motor is laid on a joint box inner cavity fixing plate along the X-axis direction, the second gear pair comprises a second pinion and a second gear wheel which are meshed with each other, the second pinion is connected with an output shaft of the fourth motor, the second gear wheel is connected with one end of the second driven shaft in a fixed key mode, the second driven shaft is laid along the X-axis direction and penetrates through the second transparent cover, a rolling bearing is arranged between the second driven shaft and the joint box, the second transparent cover is connected with a joint box inner wall screw, one end of the second driven shaft is fixedly connected with a second cylindrical arm through the transparent cover screw, and the convex plate is connected with an RCM telecentric device.
2. The eight-degree-of-freedom minimally invasive surgery robot according to claim 1, wherein the transmission mechanism comprises a first bevel gear, a second bevel gear, a bevel gear shaft and a lower interface, the first bevel gear is connected with a first motor rotating shaft, the second bevel gear is in fixed key connection with one end of the bevel gear shaft and is meshed with the first bevel gear, a rolling bearing is arranged between the bevel gear shaft and the base box body, the bevel gear shaft can rotate in the base box body, the other end of the bevel gear shaft is in fixed key connection with the lower interface, and a transparent cover is arranged between the lower interface and the base box body.
3. The eight-degree-of-freedom minimally invasive surgery robot according to claim 1, wherein the gear transmission mechanism comprises a first cylindrical straight gear, a second cylindrical straight gear and a gear shaft, the first cylindrical straight gear is connected with a rotating shaft of a second motor, the second cylindrical straight gear is meshed with the first cylindrical straight gear and fixed to one end of the gear shaft, a rolling bearing is arranged between the gear shaft and the box body, the gear shaft can rotate in the transmission box body, and the other end of the gear shaft is fixedly connected with a parallel rotating rod.
4. The eight-degree-of-freedom minimally invasive surgical robot according to claim 1, wherein the lower moving platform comprises three center legs arranged in a regular triangle and a through hole arranged in the center of the lower moving platform, and the three center legs penetrate through the through hole and are respectively hinged with the universal joint of the parallel telescopic rod;
the upper moving platform comprises a center hole arranged at the center of the upper moving platform, a center rod arranged in the center hole, and a circular cylinder arranged between the center hole and the center rod, the circular cylinder is in clearance fit with the upper moving platform, the circular cylinder is in interference fit with the center rod and the lower moving platform, and the tail end of the center rod is hinged with a universal joint of a rotating parallel link rod.
5. The eight-degree-of-freedom minimally invasive surgical robot according to claim 1, wherein the multi-link mechanism comprises two first links, two second links and a long stick, one end of each of the two first links is hinged to one end of the central rod, the other end of each of the two first links is hinged to the two second links, the long stick is rotatably connected to the two second links through the intersection of the two second links, and the long stick is fixedly connected to the annular wall of the upper moving platform in a penetrating manner.
6. The eight-degree-of-freedom minimally invasive surgical robot according to claim 1, wherein the transmission case further comprises an operation tube arranged on one side of the transmission case body and a rectangular inner cavity of the transmission case body, the three parallel telescopic rods and the parallel rotating rod penetrate through the operation tube, the crank-slider mechanism is arranged in the rectangular inner cavity, and an upper interface of the crank-slider mechanism is arranged on the surface of the transmission case body.
7. The eight-degree-of-freedom minimally invasive surgical robot according to claim 1, wherein the RCM telecentric device further comprises a second connecting plate and a third connecting plate, the second connecting plate is connected with a convex plate screw of the second cylindrical arm, the third connecting plate is connected with a linkage mechanism screw, the Y-direction rotation driving mechanism is connected with the second cylindrical arm, the X-direction rotation driving mechanism is connected with the side face of the linkage mechanism, one end of the linkage mechanism is connected with the second cylindrical arm, and the other end of the linkage mechanism is connected with the base of the surgical manipulator box.
8. The eight-degree-of-freedom minimally invasive surgical robot according to claim 1, wherein the Y-direction rotation driving mechanism comprises a fifth motor and a third gear pair driven by the fifth motor, the fifth motor is fixed on the second connecting plate along the Y-axis direction, the fifth gear pair comprises a first incomplete spur gear and a first spur gear which are meshed with each other, the first incomplete spur gear is mounted on the linkage mechanism along the Y-axis direction, the first spur gear is connected with an output shaft of the fifth motor, and the fifth motor drives the linkage mechanism to make rotational motion along the Y-axis direction through the first spur gear and the first incomplete spur gear;
the X-direction rotation driving mechanism comprises a sixth motor and a fourth gear pair driven by the sixth motor, the sixth motor is fixed on the third connecting plate along the X-axis direction, the fourth gear pair consists of a second incomplete straight-tooth gear and a second cylindrical straight-tooth gear which are meshed with each other, the second incomplete straight-tooth gear is installed on the linkage mechanism along the X-axis direction, the second cylindrical straight-tooth gear is connected with an output shaft of the sixth motor, and the sixth motor drives the linkage mechanism to do rotation motion along the X-axis direction through the second cylindrical straight-tooth gear and the second incomplete straight-tooth gear;
the linkage mechanism comprises a U-shaped frame, a first coding shaft and a third transparent cover which are used for connecting the U-shaped frame and a cylindrical arm convex plate, a second coding shaft and a fourth transparent cover which are used for connecting the U-shaped frame and a connecting rod, one end of the first coding shaft penetrates through the convex plate and a second connecting plate and is in key connection with a first incomplete straight gear, the other end of the first coding shaft penetrates through the bottom surface of the U-shaped frame and is in bolt connection with the bottom surface of the U-shaped frame, a rolling bearing is arranged between the first coding shaft and the second connecting plate, the third transparent cover is arranged at the tail part of the first coding shaft and the convex plate, the convex plate is in screw connection with the third transparent cover, one end of the second coding shaft penetrates through two side walls of the U-shaped frame, the other end of the second coding shaft penetrates through the fourth incomplete gear in key connection, the third connecting plate and the fourth transparent cover are arranged at the tail part of the second coding shaft, the fifth transparent cover is in screw connection, the side wall of the U-shaped frame is connected with a fourth transparent cover screw, a rolling bearing is arranged between the second coding shaft and the third connecting plate, and the second coding shaft is fixedly connected with the connecting rod.
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| CN114452001A (en) * | 2022-02-23 | 2022-05-10 | 上海新璐医疗科技有限公司 | Four-degree-of-freedom puncture surgical 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 |
| CN117224242B (en) * | 2023-11-10 | 2024-01-09 | 南方医科大学南方医院 | Rotary driving device for remote operation robot |
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