CN113813048B - Four-degree-of-freedom remote movement center mechanism of surgical robot - Google Patents

Four-degree-of-freedom remote movement center mechanism of surgical robot Download PDF

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Publication number
CN113813048B
CN113813048B CN202111187725.2A CN202111187725A CN113813048B CN 113813048 B CN113813048 B CN 113813048B CN 202111187725 A CN202111187725 A CN 202111187725A CN 113813048 B CN113813048 B CN 113813048B
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China
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joint
guide rail
degree
arc
surgical robot
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CN113813048A (en
Inventor
朱晒红
段吉安
易波
罗志
凌颢
李洲
李政
王国慧
朱利勇
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Central South University
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Central South University
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/71Manipulators operated by drive cable mechanisms

Abstract

The invention provides a four-degree-of-freedom remote movement center mechanism of a surgical robot, which comprises: the primary adjusting joint is provided with a primary adjusting arm, and the first end of the primary adjusting arm is rotationally arranged at the bottom of the primary adjusting joint; the connecting rod motion structure comprises a first connecting rod arm and a second connecting rod arm, wherein the first connecting rod arm is rotationally connected with the primary adjusting arm through a first joint, the second connecting rod arm is rotationally connected with the first connecting rod arm through a second joint, a third joint is arranged at the second end of the second connecting rod arm, and the relative rotation angles of the first joint, the second joint and the third joint are consistent; the adjustable rotating structure is rotationally arranged at the second end of the second connecting rod arm through the third joint; the arc-shaped guide rail comprises a guide rail, a sliding block and a mounting seat, wherein the arc-shaped guide rail is connected to the bottom of the adjustable rotating structure through the sliding block, the mounting seat is used for mounting an actuator of the surgical robot, and a sticking point of the actuator coincides with the circle center of the arc-shaped guide rail.

Description

Four-degree-of-freedom remote movement center mechanism of surgical robot
Technical Field
The invention relates to the technical field of robots, in particular to a four-degree-of-freedom remote movement center mechanism of a surgical robot.
Background
Minimally invasive surgery, also commonly referred to as interventional surgery, is a procedure performed by making several small incisions in the body surface (or relying on the natural lumen of the human body), stretching surgical instruments into the body through the body surface incisions by means of image guidance of a visual display system, and the minimally invasive surgery technique has led to the fact that most of the surgical procedures have seen open surgical modes, and it has become increasingly popular to apply robotics to medical surgery, which have significant advantages in terms of operational stability, rapidity and accuracy, and to integrate robotics into the surgical procedure, which can improve the surgical environment of doctors and shorten the recovery time of patients.
In the minimally invasive surgery process of the robot, in order to prevent the body surface incision of a patient from being enlarged, an end actuating mechanism of the robot is kept motionless at the body surface incision, a common means is to provide a distal movement center point through a distal movement center mechanism, the distal movement center point can always coincide with the minimally invasive surgery incision, and the mechanism positioned at the distal movement center point cannot displace, so that the surgical instrument and the surgical incision of the patient are prevented from being pulled in the minimally invasive surgery process, and the surgery safety is ensured; the existing remote movement center mechanism is complex in structure, and the double parallelogram mechanism is formed by a plurality of connecting rods, so that the occupied space is large, and the actual minimally invasive surgery is not facilitated.
Disclosure of Invention
The invention provides a four-degree-of-freedom remote movement center mechanism of a surgical robot, and provides a remote movement center mechanism with better double-parallelogram mechanism, which realizes a poking and clamping fixed point through the double-parallelogram mechanism and meets various functional actions required by an actuator in the surgical process.
In order to achieve the above object, an embodiment of the present invention provides a four-degree-of-freedom distal movement center mechanism of a surgical robot, comprising:
the primary adjusting joint is provided with a primary adjusting arm, and the first end of the primary adjusting arm is rotationally arranged at the bottom of the primary adjusting joint;
the connecting rod motion structure comprises a first connecting rod arm and a second connecting rod arm, wherein the first end of the first connecting rod arm is rotatably arranged at the second end of the primary adjusting arm through a first joint, the first end of the second connecting rod arm is rotatably arranged at the second end of the first connecting rod arm through a second joint, a third joint is arranged at the second end of the second connecting rod arm, and the relative rotation angles of the first joint, the second joint and the third joint are consistent;
the adjustable rotating structure is rotatably arranged at the second end of the second connecting rod arm through the third joint;
the arc-shaped guide rail comprises a guide rail, a sliding block and a mounting seat, wherein the arc-shaped guide rail is connected to the bottom of the adjustable rotating structure through the sliding block, the mounting seat is used for mounting an actuator of the surgical robot, and a blocking point of the actuator coincides with the circle center of the arc-shaped guide rail.
The first joint and the second joint are driven by the first steel wire set, and the second joint and the third joint are driven by the second steel wire set.
Wherein the straight line distance between the first joint and the second joint is L 1 The linear distance between the second joint and the third joint is L 2 The straight line distance between the third joint and the sticking point of the actuator is L 3 The straight line distance between the first joint and the sticking point of the actuator is L 4 ,L 1 =L 3 ,L 2 =L 4
Wherein, adjustable rotating structure is driven rotatory by adjustable drive steel wire.
The guide rail comprises two guide plates which are arranged in parallel, the guide rail is bent in an arc shape with a preset radius, continuous arc rollaway nest is arranged at two ends of the sliding block, a plurality of balls are filled in each continuous arc rollaway nest, and two ends of the sliding block are slidably arranged between the two guide plates through the continuous arc rollaway nest and the balls.
Two groups of continuous circular arc raceways are arranged at two ends of the sliding block, and the continuous circular arc raceways are closed through a sliding block cover plate.
The guide plate comprises a sliding block, wherein guide grooves are formed in the edges of two sides of the guide plate, and two groups of continuous arc rollaway nest arranged at each end of the sliding block correspond to the guide grooves on two sides of the guide plate respectively.
The arc-shaped guide rail is provided with a first driving steel wire and a second driving steel wire, and the first driving steel wire and the second driving steel wire are respectively connected with two sides of the sliding block through guide wheel assemblies.
The inside of the guide rail is provided with a counterweight spring piece, the counterweight spring piece is wound tightly, and the counterweight spring piece is in transmission with the sliding block through a counterweight steel wire.
The scheme of the invention has the following beneficial effects:
the four-degree-of-freedom remote movement center mechanism of the surgical robot is provided with an initial adjustment joint, a connecting rod movement structure, an adjustable rotation structure and an arc-shaped guide rail, and an actuator of the surgical robot is arranged on a mounting seat of the arc-shaped guide rail; the invention has four degrees of freedom altogether, the first degree of freedom can rotate the whole mechanism along the axial direction of the initial adjusting arm through the initial adjusting joint, the second degree of freedom is the movement of a double-parallelogram mechanism, wherein the poking and clamping point of the actuator and three joints of the connecting rod movement structure jointly form four end points of the parallelogram, the opening and closing of the parallelogram can be realized, the third degree of freedom is the rotary movement of the adjustable rotary structure, and the adjustable rotary structure can drive the arc-shaped guide rail to rotate at the bottom of the adjustable rotary structure; the fourth degree of freedom is the circular arc motion of the arc guide rail, and the actuator arranged on the mounting seat can rotate by taking the circle center of the arc guide rail as a fixed point.
Drawings
FIG. 1 is a schematic view of a four degree of freedom distal center of motion mechanism of a surgical robot of the present invention;
FIG. 2 is an assembled schematic view of a four degree-of-freedom distal center of motion mechanism of the surgical robot of the present invention;
FIG. 3 is a schematic view of an arcuate guideway installation of a four degree of freedom distal center of motion mechanism of the surgical robot of the present invention;
FIG. 4 is a schematic view of an arcuate guide rail of a four degree-of-freedom distal motion center mechanism of the surgical robot of the present invention;
FIG. 5 is a schematic view of a portion of an arcuate guide track of a four degree-of-freedom distal motion center mechanism of the surgical robot of the present invention;
FIG. 6 is a second schematic view of a portion of an arcuate guide track of a four degree-of-freedom distal motion center mechanism of the surgical robot of the present invention;
FIG. 7 is a schematic view of a portion of an arcuate guide track of a four degree-of-freedom distal motion center mechanism of the surgical robot of the present invention;
FIG. 8 is a schematic view of a four degree-of-freedom distal center of motion mechanism of the surgical robot of the present invention;
FIG. 9 is a schematic view of two degrees of freedom motion of a four degree of freedom distal center of motion mechanism of the surgical robot of the present invention;
FIG. 10 is a schematic view of three degrees of freedom of a four degree of freedom distal center of motion mechanism of the surgical robot of the present invention;
fig. 11 is a schematic view of four degrees of freedom motion of a four degree of freedom distal center of motion mechanism of the surgical robot of the present invention.
[ reference numerals description ]
1-initially adjusting the joint; 2-a primary adjustment arm; 3-a first link arm; 4-a second link arm; 5-a first joint; 6-a second joint; 7-a third joint; 8-a first steel wire group; 9-a second wire set; 10-an actuator; 11-an adjustable rotating structure; 12-adjustable drive steel wire; 13-a guide rail; 14-a slider; 15-mounting seats; 16-guide plates; 17-a continuous arc raceway; 18-a slider cover plate; 19-balls; 20-a guide rail groove; 21-a first drive wire; 22-a second drive wire; 23-a counterweight spring piece; 24-counterweight steel wire.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
The invention provides a four-degree-of-freedom remote movement center mechanism of a surgical robot, and provides a remote movement center mechanism with better double-parallelogram mechanism, which realizes a poking and clamping fixed point through the double-parallelogram mechanism and meets various functional actions required by an actuator in the surgical process.
As shown in fig. 1 to 3, an embodiment of the present invention provides a four-degree-of-freedom distal movement center mechanism of a surgical robot, including: the primary adjusting joint 1 is provided with a primary adjusting arm 2, and a first end of the primary adjusting arm 2 is rotatably arranged at the bottom of the primary adjusting joint 1; connected withThe lever motion structure comprises a first lever arm 3 and a second lever arm 4, wherein the first end of the first lever arm 3 is rotationally arranged at the second end of the initial adjusting arm 2 through a first joint 5, the first end of the second lever arm 4 is rotationally arranged at the second end of the first lever arm 3 through a second joint 6, a third joint 7 is arranged at the second end of the second lever arm 4, the first joint 5 and the second joint 6 are transmitted through a first steel wire set 8, the second joint 6 and the third joint 7 are transmitted through a second steel wire set 9, so that the relative rotation angles of the first joint 5, the second joint 6 and the third joint 7 are consistent, and the linear distance between the first joint 5 and the second joint 6 is L 1 The linear distance between the second joint 6 and the third joint 7 is L 2 The linear distance between the third joint 7 and the sticking point P of the actuator 10 is L 3 The straight line distance between the first joint 5 and the sticking point P of the actuator 10 is L 4 ,L 1 =L 3 ,L 2 =L 4 The method comprises the steps of carrying out a first treatment on the surface of the An adjustable rotating structure 11, wherein the adjustable rotating structure 11 is rotatably arranged at the second end of the second link arm 4 through the third joint 7, and the adjustable rotating structure 11 is driven to rotate by an adjustable driving steel wire 12; the arc-shaped guide rail comprises a guide rail 13, a sliding block 14 and a mounting seat 15, wherein the arc-shaped guide rail is connected to the bottom of the adjustable rotary structure 11 through the sliding block 14, the mounting seat 15 is used for mounting an actuator 10 of the surgical robot, and a blocking point P of the actuator 10 coincides with the circle center of the arc-shaped guide rail.
The four-degree-of-freedom remote center of motion mechanism of the surgical robot according to the above embodiment of the present invention has four degrees of freedom in total: the primary adjusting arm 2 can circumferentially rotate relative to the primary adjusting joint 1 in the first degree of freedom; the second degree of freedom, the blocking point P of the actuator 10 and the three joints of the connecting rod motion structure form four endpoints of a parallelogram together, and the double-parallelogram mechanism can be opened and closed; the arc-shaped guide rail and the actuator 10 which are arranged below the adjustable rotating structure 11 can rotate around the bottom of the adjustable rotating structure 11; four degrees of freedom, the actuator 10 mounted on the mounting seat 15 can perform rotary motion by taking the center of the arc-shaped guide rail as a fixed point. The first degree of freedom and the second degree of freedom are initial adjustment degrees of freedom and are used for adjusting the position of the mechanism in a large range before operation, the third degree of freedom and the fourth degree of freedom are adjustable degrees of freedom in operation, and various actions can be completed by matching the actuator in operation; as shown in fig. 8, the first degree of freedom implementation mechanism integrally rotates, so that the state of the mechanical arm is adjusted according to the operation requirement, and the blocking point P of the actuator is kept motionless during adjustment; as shown in fig. 9, the second degree of freedom realizes that the parallelogram is unfolded and folded, so that the state of the mechanical arm is adjusted according to the operation requirement; as shown in fig. 10, the actuator 10 can perform conical rotation movement around the sticking point P, so as to realize the action of the actuator in operation, such as realizing large displacement of the tail end and large tissue poking; as shown in fig. 11, by the arc-shaped guide rail, the actuator 10 rotates around the sticking point P, so as to realize the action of the actuator in operation, such as realizing large displacement of the tail end, large tissue poking or picking.
As shown in fig. 4 to 7, the guide rail 13 includes two guide plates 16 disposed in parallel, the guide rail 13 is bent in an arc shape with a preset radius, two ends of the slide block 14 are provided with two continuous arc raceways 17, in this embodiment, two groups of continuous arc raceways 17 are provided at two ends of the slide block 14, the continuous arc raceways 17 are closed by a slide block cover plate 18, a plurality of balls 19 are filled in each continuous arc raceway 17, and two ends of the slide block 14 are slidably disposed between the two guide plates 16 through the continuous arc raceways 17 and the balls 19.
The two side edges of the guide plate 16 are provided with guide rail grooves 20, two groups of continuous circular arc roller paths 17 are arranged at each end of the sliding block 14, the two groups of continuous circular arc roller paths 17 are respectively arranged at two sides of the end head of the sliding block 14 and respectively correspond to the guide rail grooves 20 at two sides of the guide plate 16, when the sliding block 14 moves, the balls 19 roll along the guide rail grooves 20, and meanwhile the balls 19 roll in the continuous circular arc roller paths 17, so that smooth movement of the sliding block 14 is ensured, and friction force during movement is reduced.
The arc-shaped guide rail is provided with a first driving steel wire 21 and a second driving steel wire 22, the first driving steel wire 21 and the second driving steel wire 22 are led out of the installation seat 15, the first driving steel wire 21 bypasses the first guide wheel A, the first guide wheel B, the first guide wheel C and the first guide wheel D respectively and is fixedly connected with one side of the sliding block 14, the second driving steel wire 22 bypasses the second guide wheel A and the second guide wheel B respectively and is fixedly connected with the other side of the sliding block 14, and the head ends of the first driving steel wire 21 and the second driving steel wire 22 are mutually connected, so that when the first driving steel wire 21 or the second driving steel wire 22 is pulled, the second driving steel wire 22 or the first driving steel wire 21 is contracted accordingly, and the sliding block 14 is driven to move along the guide rail.
The inside of guide rail 13 is provided with weight spring piece 23, weight spring piece 23 winds up in advance and sets up, through the fastening weight spring piece 23 can change the pulling force of weight steel wire 24, through adjusting weight steel wire 24's pulling force can be applicable to different load weights, weight spring piece 23 is connected to weight steel wire 24's one end, weight steel wire 24's the other end walk around weight guide pulley A and weight guide pulley B with one side of slider 14 is connected, weight steel wire 24 connects one side of slider 14 with one side of mount pad 15 connection guide rail 13 is the homonymy.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.

Claims (7)

1. A four-degree-of-freedom distal center of motion mechanism for a surgical robot, comprising:
the primary adjusting joint is provided with a primary adjusting arm, and the first end of the primary adjusting arm is rotationally arranged at the bottom of the primary adjusting joint;
a link moving structure including a first link arm and a second link arm, the first end of the first link arm being rotatably disposed at the second end of the primary adjustment arm through a first joint, the second link arm being firstOne end is rotationally arranged at the second end of the first link arm through a second joint, the second end of the second link arm is provided with a third joint, the relative rotation angles of the first joint, the second joint and the third joint are consistent, and the linear distance between the first joint and the second joint is L 1 The linear distance between the second joint and the third joint is L 2 The straight line distance between the third joint and the sticking point of the actuator is L 3 The straight line distance between the first joint and the sticking point of the actuator is L 4 ,L 1 =L 3 ,L 2 =L 4
The adjustable rotating structure is rotatably arranged at the second end of the second connecting rod arm through the third joint;
the arc-shaped guide rail comprises a guide rail, a sliding block and a mounting seat, the arc-shaped guide rail is connected to the bottom of the adjustable rotating structure through the sliding block, the mounting seat is used for mounting an actuator of the surgical robot, and a blocking point of the actuator coincides with the circle center of the arc-shaped guide rail;
the guide rail comprises two guide plates which are arranged in parallel, the guide rail is bent in an arc shape with a preset radius, continuous arc rollaway nest is arranged at two ends of the sliding block, a plurality of balls are filled in each continuous arc rollaway nest, and two ends of the sliding block are slidably arranged between the two guide plates through the continuous arc rollaway nest and the balls.
2. The four degree of freedom distal center of motion mechanism of claim 1 wherein the first and second joints are driven by a first wire set and the second and third joints are driven by a second wire set.
3. The four-degree-of-freedom distal movement center mechanism of a surgical robot of claim 1, wherein the adjustable rotation structure is driven in rotation by an adjustable drive wire.
4. The four-degree-of-freedom distal movement center mechanism of a surgical robot of claim 1, wherein two sets of the continuous circular arc raceways are provided at both ends of the slider, and the continuous circular arc raceways are closed by a slider cover plate.
5. The four-degree-of-freedom distal movement center mechanism of a surgical robot according to claim 4, wherein guide rail grooves are provided at both side edges of the guide plate, and two sets of the continuous circular arc raceways provided at each end of the slider block respectively correspond to the guide rail grooves at both sides of the guide plate.
6. The four-degree-of-freedom distal movement center mechanism of a surgical robot of claim 1, wherein the arcuate guide rail is provided with a first drive wire and a second drive wire, the first and second drive wires being connected to both sides of the slider block, respectively, by a guide wheel assembly.
7. The four-degree-of-freedom distal movement center mechanism of a surgical robot according to claim 1, wherein a weight spring piece is provided inside the guide rail, the weight spring piece is wound tightly, and the weight spring piece is driven with the slider through a weight steel wire.
CN202111187725.2A 2021-10-12 2021-10-12 Four-degree-of-freedom remote movement center mechanism of surgical robot Active CN113813048B (en)

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