CN113796818B - Force balance instrument arm - Google Patents
Force balance instrument arm Download PDFInfo
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- CN113796818B CN113796818B CN202111000579.8A CN202111000579A CN113796818B CN 113796818 B CN113796818 B CN 113796818B CN 202111000579 A CN202111000579 A CN 202111000579A CN 113796818 B CN113796818 B CN 113796818B
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- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 229910000831 Steel Inorganic materials 0.000 claims description 20
- 239000010959 steel Substances 0.000 claims description 20
- 238000004804 winding Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 10
- 238000011282 treatment Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- Health & Medical Sciences (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
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- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Mechanical Engineering (AREA)
- Radiology & Medical Imaging (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Biophysics (AREA)
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Abstract
The present disclosure provides a force balancing instrument arm comprising: one end of the generalized parallelogram mechanism is used for connecting a medical instrument, and the generalized parallelogram mechanism can enable the medical instrument to rotate around a point in a plane where the generalized parallelogram mechanism is located; and one end of the first arm can be connected with the outside, the other end of the first arm is connected with the other end of the generalized parallelogram mechanism, and the first arm is provided with a force balance structure which can restore the generalized parallelogram mechanism from a rotation state to a non-rotation state.
Description
Technical Field
The present disclosure relates to the field of medical devices, and more particularly, to a force balancing device arm.
Background
At present, a medical robot slave end instrument arm with a fixed point is provided with a connecting rod assembly for transmitting motion in the axial direction of a medical tool catheter, and in order to avoid interference between the assembly and an auxiliary medical instrument or a patient in the motion process, the length of each connecting rod of the assembly is required to be increased, so that the volume of the instrument arm is increased. The medical robot instrument arm can be regarded as a cantilever beam structure, when the length of each connecting rod in the structure is increased, the motion inertia of the instrument arm is increased, the elastic deformation amount in the motion process of each component is increased, and the repeated positioning precision of the tail end of the medical tool is reduced.
Disclosure of Invention
First, the technical problem to be solved
Based on the above problems, the present disclosure provides a force balance instrument arm to alleviate the technical problems of the prior art, such as reduced accuracy of repeated positioning of the distal end of a medical tool.
(II) technical scheme
The present disclosure provides a force balancing instrument arm comprising:
one end of the generalized parallelogram mechanism is used for connecting a medical instrument, and the generalized parallelogram mechanism can enable the medical instrument to rotate around a point in a plane where the generalized parallelogram mechanism is located;
and one end of the first arm can be connected with the outside, the other end of the first arm is connected with the other end of the generalized parallelogram mechanism, and the first arm is provided with a force balance structure which can restore the generalized parallelogram mechanism from a rotation state to a non-rotation state.
In an embodiment of the present disclosure, the generalized-parallelogram mechanism includes:
a second arm, one end of which is pivoted with the other end of the first arm through a first shaft;
one end of the third arm is pivoted with the other end of the second arm through a second shaft, and the first shaft and the second shaft are arranged in parallel;
one end of the fourth arm is pivoted with the other end of the third arm through a third shaft, and the second shaft is arranged in parallel with the third shaft;
and the synchronous devices are used for keeping the same rotation angle when the first shaft, the second shaft and the third shaft rotate, so that the second arm, the third arm and the fourth arm form a generalized parallelogram mechanism.
In an embodiment of the present disclosure, the force balancing structure includes:
a spring having one end connected to a spring pin inside the first arm;
one end of the steel wire is connected with the other end of the spring, and the other end of the steel wire is connected with the first shaft;
the first shaft rotates to wind the steel wire, so that the spring is stretched, and the stretched spring can restore the first shaft from a rotating state to a non-rotating state.
In an embodiment of the present disclosure, the first shaft includes:
a mounting shaft for providing support for rotation of the first arm and the second arm;
the rebound wire wheel is used for winding the steel wire, is fixedly connected with the second arm and is sleeved on the mounting shaft; the steel wire is connected in a groove arranged on the rebound wire wheel through a screw thread.
In an embodiment of the present disclosure, the first arm includes a U-shaped structure capable of increasing a swing amplitude of the generalized-parallelogram mechanism.
In the embodiment of the disclosure, the first arm further includes a connection base, one end of the connection base is connected with the U-shaped structure, and the other end of the connection base is connected with the outside.
In an embodiment of the disclosure, the U-shaped structure is rotatable relative to the connection mount, the rotation axis of the U-shaped structure being perpendicular to and intersecting the axis of the first shaft.
In an embodiment of the disclosure, a connection boss is provided at a connection of the second arm and the third arm, the connection boss enabling the second arm and the third arm to be respectively arranged at both sides of the first arm in a direction of the first axis.
In an embodiment of the disclosure, the connection boss is disposed on the second arm or the third arm.
In an embodiment of the disclosure, the third arm is provided with a force balancing structure identical to the force balancing structure provided by the first arm, and the force balancing structure provided by the third arm is used for counteracting the gravity of the fourth arm.
(III) beneficial effects
As can be seen from the above technical solutions, the force balance apparatus arm of the present disclosure has at least one or a part of the following advantages:
(1) The structure of the instrument arm is provided with a physical fixed point, and no other parts for transmission are arranged below the structure, so that a larger space is reserved below the instrument arm for placing other medical tools for assisting medical implementation, the structure of the instrument arm is more compact, and the occupied space is smaller;
(2) The device can realize that the instrument arm can automatically recover to an unrotated state through the force balance structure under the condition that the external force is not applied to the instrument arm after the instrument arm is rotated by the external force; and
(3) The two physical fixed points can be realized, and the U-shaped structure can increase the swing amplitude of the instrument arm, so that the medical treatment implementation is more flexible.
Drawings
Fig. 1A is a schematic diagram of a primary hand end of a force balancing instrument arm of an embodiment of the present disclosure applied to an auxiliary minimally invasive medical system.
Fig. 1B is a schematic view of a force balancing instrument arm of an embodiment of the present disclosure applied from the hand end to an auxiliary minimally invasive medical system.
Fig. 2 is a schematic illustration of the overall structure of a force balancing instrument arm according to an embodiment of the present disclosure.
Fig. 3 is a schematic illustration of a medical instrument position state of a force balancing instrument arm according to an embodiment of the present disclosure.
Fig. 4 is a schematic view of a first arm structure of a force balancing instrument arm according to an embodiment of the present disclosure.
Fig. 5 is a schematic illustration of a U-shaped structural rotation of a first arm of a force balancing instrument arm according to an embodiment of the present disclosure.
Fig. 6 is a schematic illustration of a generalized parallelogram mechanism position state of a force balancing instrument arm according to an embodiment of the present disclosure.
Fig. 7 is a schematic view of a medical device rotated about a point of a force balancing device arm according to an embodiment of the present disclosure.
Fig. 8 is a schematic illustration of the geometry of a force balancing instrument arm according to an embodiment of the present disclosure.
Fig. 9 is a schematic diagram of the force balancing structure overall of a force balancing instrument arm according to an embodiment of the present disclosure.
Fig. 10 is a schematic illustration of an exploded force balancing structure of a force balancing instrument arm according to an embodiment of the present disclosure.
Fig. 11 is a schematic view of the wire and rebound wire wheel mounting of a force balancing apparatus arm according to an embodiment of the present disclosure.
Fig. 12 is a schematic view of a recoil wire wheel wrapped around a wire of a force balancing instrument arm of an embodiment of the present disclosure.
Fig. 13 is a schematic illustration of a force balancing structural extension of a first arm of a force balancing instrument arm according to an embodiment of the present disclosure.
Fig. 14 is a schematic view of an initial state of a force balancing structure of a fourth arm of a force balancing apparatus arm according to an embodiment of the present disclosure.
Fig. 15 is a schematic view of a force balance structure of a fourth arm of a force balance instrument arm according to an embodiment of the present disclosure in a stretched state.
[ in the drawings, the main reference numerals of the embodiments of the present disclosure ]
01. Main hand end
02. From the hand end
03. Three-dimensional image system
04. Control system
011. Main operation hand
022. Instrument arm
023. Medical apparatus and instruments
024. Endoscope with a lens
201. Connecting seat
202. First arm
203. Second arm
204. Third arm
205. Fourth arm
206. Instrument seat
207. Spring
208. Steel wire
209. Spring pin
210. Mounting shaft
211. Rebound wire wheel
212. Screw thread
Aa first axis is located at
B axis of second shaft
C the axis of the third axis
O fixed point
R1 first arm rotation
R2 generalized parallelogram mechanism rotation
P medical instrument movement motion
Detailed Description
The force balance instrument arm can realize that an instrument arm structure has a physical motionless point, and no other parts for transmission are arranged below the structure, so that a larger space is arranged below the instrument arm for placing other medical tools for assisting medical implementation, the instrument arm structure is more compact, and the occupied space is smaller; the device can realize that the instrument arm can automatically recover to an unrotated state through the force balance structure under the condition that the external force is not applied to the instrument arm after the instrument arm is rotated by the external force; the two physical fixed points can be realized, the U-shaped structure can increase the swing amplitude of the instrument arm, so that the instrument arm is more flexible in medical treatment, and the main defects and the shortcomings of the existing instrument arm can be overcome.
For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same.
In an embodiment of the present disclosure, there is provided a force balancing instrument arm, as shown in fig. 1A to 2, including: one end of the generalized parallelogram mechanism is used for connecting the medical instrument 023, and the generalized parallelogram mechanism can enable the medical instrument 023 to rotate around a point in the plane of the generalized parallelogram mechanism; and one end of the first arm 202 can be connected with the outside, the other end of the first arm is connected with the other end of the generalized parallelogram mechanism, and the first arm is provided with a force balance structure which can restore the generalized parallelogram mechanism from a rotation state to a non-rotation state.
In the embodiment of the disclosure, as shown in fig. 1A and 1B, a schematic diagram of a robot-assisted minimally invasive medical system is shown, which includes a master hand end 01 and a slave hand end 02, and the master hand end 01 is further integrated with a three-dimensional image system 03 and a control system 04. The master manipulator 011 is provided on the master manipulator 01, and the master manipulator 011 controls the instrument arm 022 and the medical instrument 023 provided on the slave manipulator 02. From the hand 02, a plurality of instrument arms 022 are provided, each instrument arm 022 will be provided with medical instruments 023 of different functions, such as tissue forceps, needle holders, energy tools, ultrasonic knives, etc., in medical treatment to cope with surgical demands of different medical treatments. One of the plurality of instrument arms 022 is mounted with an endoscope 024 for image transmission in medical treatment.
In the presently disclosed embodiments, during a medical procedure, as shown in fig. 1A-2, the instrument arm 022 with the endoscope 024 mounted thereon positions and orients the endoscope 024 by attitude adjustment. The endoscope 024 passes through the minimally invasive incision (poking card) and then enters the human body, can acquire three-dimensional images of a medical implementation part, synchronously transmits the three-dimensional images of the focus part to the three-dimensional image system 03 arranged on the main hand end 01, and performs medical operation by watching the three-dimensional images, namely, a doctor watches the synchronous images of the focus part on the three-dimensional image system 03 at the main hand end 01, simultaneously operates the main operating hand 011, and controls the pose and the action of the plurality of instrument arms 022 and the medical instrument 023 on the auxiliary hand end 02 by adjusting the pose of the main operating hand 011 so as to complete the medical operation. In the above process, the encoder set at each joint of the main manipulator 011 manipulated by the doctor can record the data of the rotation angle of the joint in real time, which can be called as input parameters, the data is transmitted to the control system 04, the controller in the control system 04 is preset with the kinematic mathematical model of the mutual mapping among the main manipulator 011, the instrument arm 022 and the medical instrument 023, the controller receives the input parameters and calculates the output parameters of the kinematic model corresponding to the medical instrument 023 with different functions, and the output parameters are transmitted to the instrument arm 022 and the medical instrument 023 of the slave hand 02, so as to realize the motion control.
In an embodiment of the present disclosure, a generalized parallelogram mechanism includes: one end of the second arm is pivoted with the other end of the first arm through a first shaft; one end of the third arm is pivoted with the other end of the second arm through a second shaft, and the first shaft and the second shaft are arranged in parallel; one end of the fourth arm is pivoted with the other end of the third arm through a third shaft, and the second shaft is arranged in parallel with the third shaft; and the first shaft, the second shaft and the third shaft are respectively provided with a synchronous device, and the synchronous devices are used for keeping the same rotation angle when the first shaft, the second shaft and the third shaft rotate, so that the second arm, the third arm and the fourth arm form a generalized parallelogram mechanism.
In an embodiment of the present disclosure, as shown in fig. 2, instrument arm 022 includes: a connection base 201, a first arm 202, a second arm 203, a third arm 204, a fourth arm 205, an instrument base 206, etc. The connecting seat 201 is used for connecting the instrument arm 022 to the slave hand 02, one end of the connecting seat is fixedly arranged above the slave hand 02, the other end of the connecting seat is rotatably connected with the first arm 202, and the other end of the first arm 202 is sequentially connected with the second arm 203, the third arm 204 and the fourth arm 205. Wherein the first arm 202 is connected with the second arm 203 through a rotating shaft A, and the second arm 203 can rotate on the first arm 202 around the shaft A; the second arm 203 is connected with the third arm 204 through a rotating shaft B, and the third arm 204 can rotate on the second arm 203 around the shaft B; the third arm 204 is connected to the fourth arm 205 through a rotation axis C, and the fourth arm 205 is rotatable on the third arm 204 about the rotation axis C. The axis A, the axis B and the axis C are arranged in parallel. The front side of the fourth arm 205 is provided with a sliding rail, and the instrument seat 206 is mounted on the sliding rail, and the instrument seat 206 can slide on the sliding rail, so that the medical instrument 023 can move on the fourth arm 205, as shown in fig. 3. During the movement P of the medical instrument 023, the outer tube 232 is disposed thereon through a point O. The instrument arm 022 has 2 degrees of freedom of movement in space, namely a rotational movement R1 around an O point and a rotational movement R2 around the O point, wherein the axes of R1 and R2 pass through the O point, and the O point is a distal stationary point of the instrument arm 022.
In the embodiment of the present disclosure, as shown in fig. 4 to 5, the first arm 202 has a U-shaped structure, one end of which is rotatably connected to the connection base 201, and the first arm 202 can rotate on the connection base 201 about the axis R1.
In the disclosed embodiment, the U-shaped structure is rotatable relative to the connection mount, the axis of rotation R1 of the U-shaped structure being perpendicular to and intersecting the axis of the first shaft 207.
In the embodiment of the present disclosure, the first arm 202 further includes a connection base 201, one end of which is connected to the U-shaped structure, and the other end of which is connected to the outside.
In an embodiment of the disclosure, a connection boss is provided at a connection of the second arm and the third arm, the connection boss enabling the second arm and the third arm to be respectively arranged on both sides of the first arm in a direction of the first axis.
In an embodiment of the present disclosure, the connection boss is provided on the second arm or the third arm.
As shown in fig. 6 and 7 in combination with fig. 2, the second arm 203, the third arm 204, and the fourth arm 205 are in a linkage structure, that is, when the second arm 203 rotates, the third arm 204 and the fourth arm 205 rotate synchronously. The connection between the second arm 203 and the third arm 204 is provided with a longer connection boss, which aims to arrange the second arm 203 and the third arm 204 on two sides of the first arm 202 respectively, so that the load of the first arm 202 is more balanced. In the prior art, the rotating arms at the distal ends of the instrument arms are typically disposed on the same side, and this arrangement results in a tipping moment on the first arm along the R1 axis, thereby reducing the stability of the motion of the instrument arms. Since the first arm 202 is provided in a U-shaped structure, the structure in which the second arm 203 and the third arm 204 are arranged on both sides of the first arm 202 does not interfere with the rotation of the second arm 203 while increasing the rotation range thereof, and the rotation movement range of the medical instrument 023 about the R2 axis can be 170 °.
As shown in fig. 8 in conjunction with fig. 2, the principle of the fixed point O is illustrated. Distance l between rotating shafts A and B AB Distance l from the rotation shaft C, O point OC Identical, l AB ＝l OC The method comprises the steps of carrying out a first treatment on the surface of the Pivot B, pitch l of pivot C BC Distance l from the rotation shaft A, O point OA Identical, l BC ＝l OA . A. B, C, O form a parallelogram, i.e. the second arm 203, the third arm 204, the fourth arm 205 form a generalized parallelogram mechanism. Meanwhile, the axis of the rotating shaft R1 passes through a point O, and the point O accords with a fixed point configuration.
As shown in fig. 9 and 10 in combination with fig. 2, the force balance structure includes a spring 207, a wire 208 for stretching the spring, and the like. Spring 207 is mounted at one end on spring pin 209 inside first arm 202 and at the other end is fixedly secured to wire 208, with the other end of wire 208 being wound around rebound wire wheel 211. One end of the rebound wire wheel 211 is fixedly mounted on the second arm 203, and the rotation axis thereof is arranged to coincide with the axis a. The second arm 203 and the rebound wire wheel 211 are fitted together on a mounting shaft 210 provided on the first arm 202, and the mounting shaft 210 is provided so as to overlap with the axis a. The second arm 203 and the rebound wire wheel 211 are rotatable synchronously on the mounting shaft 210.
In an embodiment of the present disclosure, a force balancing structure includes: a spring, one end of which is connected to a spring pin inside the first arm; one end of the steel wire is connected with the other end of the spring, and the other end of the steel wire is connected with the first shaft; the first shaft rotates to wind the steel wire, so that the spring is stretched, and the stretched spring can restore the first shaft from a rotating state to a non-rotating state.
In an embodiment of the present disclosure, the first shaft includes: a mounting shaft for providing support for rotation of the first arm and the second arm; the rebound wire wheel is used for winding the steel wire, is fixedly connected with the second arm and is sleeved on the mounting shaft; the steel wire is connected in a groove arranged on the rebound wire wheel through a screw thread.
An example of how the steel wire 208 is mounted on the rebound wire wheel 211 is shown in fig. 10 to 13. One end of the steel wire 208 is fixedly provided with a screw thread 212, and the screw thread 212 is clamped in a groove arranged on the rebound wire wheel 211. The manner of installation of the steel wire 208 is not limited to a single form. Referring to fig. 12, when the second arm 203 drives the rebound wire wheel 211 to rotate along the arrow direction, the steel wire 208 is wound on the rebound wire wheel 211, the spring 207 is pulled to be elongated, and the pulling force of the spring 207 is linearly increased after elongation, so that the self gravity of the second arm 203 can be offset, and the movement flexibility of the instrument arm is further improved, as shown in fig. 13.
In an embodiment of the present disclosure, the third arm is provided with a force balancing structure identical to the force balancing structure provided by the first arm, the force balancing structure provided by the third arm being used to counteract the weight of the fourth arm itself.
As shown in fig. 14 to 15, a force balance structure having the same structure is installed inside the third arm 204 to offset the self-gravity of the fourth arm 205.
Thus, embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It should be noted that, in the drawings or the text of the specification, implementations not shown or described are all forms known to those of ordinary skill in the art, and not described in detail. Furthermore, the above definitions of the elements and methods are not limited to the specific structures, shapes or modes mentioned in the embodiments, and may be simply modified or replaced by those of ordinary skill in the art.
From the foregoing description, those skilled in the art will readily appreciate the force balancing instrument arm of the present disclosure.
In summary, the present disclosure provides a force balance apparatus arm, where the force balance apparatus arm may implement that an apparatus arm structure has a physical fixed point, and no other components for transmission are located below the structure, so that a larger space is located below the apparatus arm for placing other medical tools for assisting medical implementation, and the apparatus arm structure is more compact and occupies smaller space; the device can realize that the instrument arm can automatically recover to an unrotated state through the force balance structure under the condition that the external force is not applied to the instrument arm after the instrument arm is rotated by the external force; the two physical fixed points can be realized, and the U-shaped structure can increase the swing amplitude of the instrument arm, so that the medical treatment implementation is more flexible.
It should be further noted that, the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "rear", "left", "right", etc., are only referring to the directions of the drawings, and are not intended to limit the scope of the present disclosure. Like elements are denoted by like or similar reference numerals throughout the drawings. Conventional structures or constructions will be omitted when they may cause confusion in understanding the present disclosure.
And the shapes and dimensions of the various elements in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. In addition, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.
Unless otherwise known, numerical parameters in this specification and the appended claims are approximations that may vary depending upon the desired properties sought to be obtained by the present disclosure. In particular, all numbers expressing quantities of ingredients, reaction conditions, and so forth used in the specification and claims are to be understood as being modified in all instances by the term "about". In general, the meaning of expression is meant to include a variation of + -10% in some embodiments, a variation of + -5% in some embodiments, a variation of + -1% in some embodiments, and a variation of + -0.5% in some embodiments by a particular amount.
Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.
The use of ordinal numbers such as "first," "second," "third," etc., in the description and the claims to modify a corresponding element does not by itself connote any ordinal number of elements or the order of manufacturing or use of the ordinal numbers in a particular claim, merely for enabling an element having a particular name to be clearly distinguished from another element having the same name.
Furthermore, unless specifically described or steps must occur in sequence, the order of the above steps is not limited to the list above and may be changed or rearranged according to the desired design. In addition, the above embodiments may be mixed with each other or other embodiments based on design and reliability, i.e. the technical features of the different embodiments may be freely combined to form more embodiments.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Also, in the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware.
Similarly, it should be appreciated that in the above description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.
While the foregoing embodiments have been described in some detail for purposes of clarity of understanding, it will be understood that the foregoing embodiments are merely illustrative of the invention and are not intended to limit the invention, and that any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (6)
1. A force balancing instrument arm, comprising:
one end of the generalized parallelogram mechanism is used for connecting a medical instrument, and the generalized parallelogram mechanism can enable the medical instrument to rotate around a point in a plane where the generalized parallelogram mechanism is located;
a first arm, one end of which can be connected with the outside, and the other end of which is connected with the other end of the generalized parallelogram mechanism, the first arm being provided with a force balancing structure which can restore the generalized parallelogram mechanism from a rotational state to a non-rotational state;
the generalized parallelogram mechanism includes:
a second arm, one end of which is pivoted with the other end of the first arm through a first shaft;
one end of the third arm is pivoted with the other end of the second arm through a second shaft, and the first shaft and the second shaft are arranged in parallel;
one end of the fourth arm is pivoted with the other end of the third arm through a third shaft, and the second shaft is arranged in parallel with the third shaft;
the device comprises a first shaft, a second shaft, a third shaft, a fourth shaft, a first arm, a second arm, a third arm, a fourth arm, a third shaft, a fourth arm, a synchronization device, a first shaft, a second shaft, a third shaft, a fourth shaft, a first arm and a third arm, wherein the synchronization device is arranged between the first shaft and the second shaft and between the third shaft and used for keeping the same rotation angle when the first shaft, the second arm, the third arm and the fourth arm rotate, the first arm comprises a U-shaped structure, the second arm is pivoted to an end support arm of the U-shaped structure, which is inclined relative to the third arm, and the U-shaped structure can increase the swing amplitude of the generalized parallelogram mechanism;
a connecting boss is arranged at the joint of the second arm and the third arm, the connecting boss can enable the second arm and the third arm to be respectively arranged on two sides of the first arm in the direction of the first shaft so as to improve the load balance of the first arm, and the second shaft can move into the U-shaped structure, and the U-shaped structure increases the rotation range of the second arm;
wherein the force balancing structure comprises:
a spring having one end connected to a spring pin inside the first arm;
one end of the steel wire is connected with the other end of the spring, and the other end of the steel wire is connected with the first shaft;
the first shaft rotates to wind the steel wire, so that the spring is stretched, and the stretched spring can restore the first shaft from a rotating state to a non-rotating state.
2. The force balance instrument arm of claim 1 wherein the first shaft comprises:
a mounting shaft for providing support for rotation of the first arm and the second arm;
the rebound wire wheel is used for winding the steel wire, is fixedly connected with the second arm and is sleeved on the mounting shaft; the steel wire is connected in a groove arranged on the rebound wire wheel through a screw thread.
3. The force balance instrument arm of claim 1 wherein the first arm further comprises a connector at one end connected to the U-shaped structure and at the other end connected to the exterior.
4. The force balance instrument arm of claim 1 wherein the U-shaped structure is rotatable relative to the connection mount, the axis of rotation of the U-shaped structure being perpendicular to and intersecting the axis of the first shaft.
5. The force balance instrument arm of claim 1, wherein the connection boss is disposed on the second arm or the third arm.
6. The force balance instrument arm of claim 1, wherein the third arm is provided with a force balance structure identical to the force balance structure provided by the first arm, the force balance structure provided by the third arm being configured to counteract the weight of the fourth arm itself.
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| CN113796818A (en) | 2021-12-17 |
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