CN113907888A - High-precision two-degree-of-freedom minimally invasive surgery mechanical arm - Google Patents
High-precision two-degree-of-freedom minimally invasive surgery mechanical arm Download PDFInfo
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- CN113907888A CN113907888A CN202111204707.0A CN202111204707A CN113907888A CN 113907888 A CN113907888 A CN 113907888A CN 202111204707 A CN202111204707 A CN 202111204707A CN 113907888 A CN113907888 A CN 113907888A
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- wheel
- harmonic reducer
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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
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The invention discloses a high-precision two-degree-of-freedom minimally invasive surgery mechanical arm which comprises a rotating arm, a first connecting rod, a second connecting rod, a third connecting rod, a tail end connecting rod, a first harmonic reducer, a second harmonic reducer, a third harmonic reducer, a fourth harmonic reducer, a first motor, a second motor, a first belt wheel, a second belt wheel, a third belt wheel, a fourth belt wheel, a first tensioning wheel, a second tensioning wheel, a third tensioning wheel, a fourth tensioning wheel, a first synchronous belt, a second synchronous belt and a third synchronous belt. The second motor is arranged on the second connecting rod, the rotation is transmitted to each joint through synchronous belt transmission, and then the rotation of the joints is realized through harmonic reducer transmission, so that the rotation of the tail end connecting rod around a remote motion center can be realized, the rotation precision of a tail end instrument is improved, and the bearing capacity of the mechanical arm is also improved.
Description
Technical Field
The invention belongs to the field of minimally invasive surgery robots, and particularly relates to a high-precision two-degree-of-freedom minimally invasive surgery mechanical arm.
Background
Because the minimally invasive surgery has the remarkable characteristics of small wound, quick recovery and the like, the configuration design for the minimally invasive surgery mechanical arm becomes the research focus of scholars at home and abroad in recent years. In the process of minimally invasive surgery on a patient, a minimally invasive surgery mechanical arm is usually needed to assist a doctor to perform the surgery. For minimally invasive surgical robotic arms, it is desirable to have the end surgical instrument as the output member that rotates about a distal motionless point and even moves along an axis that passes through the fixed point, however, no actual kinematic pair exists at this motionless point.
Application No. CN2018100501355.1 discloses an offset remote center manipulator based on a parallelogram linkage, which enables the rotation of the surgical instrument at the end of the manipulator about a fixed point. The application number CN201611169108.9 discloses a surgical manipulator with two degrees of freedom based on a belt transmission or rope transmission mechanism, wherein the two-degree-of-freedom motion of the surgical instrument at the tail end around a fixed point is realized only by outputting the reduced speed of a driving motor to each joint rotating shaft by using the belt transmission mechanism. However, the minimally invasive surgical robotic arm in the prior art still has the following disadvantages: (1) part of minimally invasive surgery mechanical arms adopt a double-parallelogram link mechanism as a remote motion center mechanism, the number of links is large, interference is easy to occur, and the working space is limited; (2) part of minimally invasive surgery mechanical arms adopt belt transmission or rope transmission mechanisms to realize the linkage of all joints, so that the tail end instruments of the mechanical arms rotate around a remote motion center all the time. Because the belt drive or the rope drive is then directly output to each joint, errors introduced by the flexibility of the belt and the rope are directly transmitted to the joints, and the carrying capacity of the mechanical arm is limited by the belt and the rope.
Disclosure of Invention
The invention aims to provide a high-precision two-degree-of-freedom minimally invasive surgery mechanical arm, which improves the precision and the bearing capacity of the mechanical arm by introducing a harmonic reducer into each joint and realizes the compact structure and the larger motion range of the mechanical arm through synchronous belt transmission.
In order to achieve the above object, the present invention provides a high-precision two-degree-of-freedom minimally invasive surgical manipulator, comprising: the device comprises a rotating arm, a first connecting rod, a second connecting rod, a third connecting rod, a tail end connecting rod, a first harmonic reducer, a second harmonic reducer, a third harmonic reducer, a fourth harmonic reducer, a first motor, a second motor, a first belt wheel, a second belt wheel, a third belt wheel, a fourth belt wheel, a first tensioning wheel, a second tensioning wheel, a third tensioning wheel, a fourth tensioning wheel, a first synchronous belt, a second synchronous belt and a third synchronous belt.
The first harmonic reducer comprises a first harmonic reducer rigid wheel, a first harmonic reducer flexible wheel connecting disc and a first harmonic reducer wave generator.
The second harmonic reducer comprises a second harmonic reducer rigid wheel, a second harmonic reducer flexible wheel connecting disc and a second harmonic reducer wave generator.
The third harmonic reducer comprises a third harmonic reducer rigid wheel, a third harmonic reducer flexible wheel connecting disc and a third harmonic reducer wave generator.
The fourth harmonic reducer comprises a fourth harmonic reducer rigid wheel, a fourth harmonic reducer flexible wheel connecting disc and a fourth harmonic reducer wave generator.
The second connecting rod comprises a second connecting rod right side plate and a second connecting rod left side plate.
The tail end connecting rod comprises an instrument mounting plate and a tail end actuator; the end effector is arranged on the instrument mounting plate, and the end effectors with different functions can be conveniently replaced.
The first belt wheel comprises a first belt wheel first groove and a first belt wheel second groove.
The second belt wheel comprises a second belt wheel first groove and a second belt wheel second groove.
The third pulley comprises a third pulley first groove and a third pulley second groove.
The first synchronous belt is wound around the first pulley first groove and the second pulley first groove.
The second timing belt wraps around the third pulley second groove and the second pulley second groove.
The third timing belt wraps around the third pulley first groove and the fourth pulley.
The rotating arm is fixedly connected with a first harmonic reducer rigid wheel in the first harmonic reducer through a screw, a first harmonic reducer flexible wheel connecting disc is fixedly connected with the first connecting rod, and a first harmonic reducer wave generator is fixedly connected with the first motor, so that the rotating arm is rotatably connected with the first connecting rod.
The first connecting rod is fixedly connected with a rigid gear of the second harmonic speed reducer in the second harmonic speed reducer through a screw, a flexible gear connecting plate of the second harmonic speed reducer is fixedly connected with a right side plate of the second connecting rod through a bearing, and a wave generator of the second harmonic speed reducer is fixedly connected with the first belt pulley, so that the first connecting rod is rotatably connected with the second connecting rod.
The other end of the right side plate of the second connecting rod is fixedly connected with a flexible gear connecting disc of a third harmonic speed reducer through a bearing, the third connecting rod is fixedly connected with a rigid gear of the third harmonic speed reducer in the third harmonic speed reducer through a screw, and a wave generator of the third harmonic speed reducer is fixedly connected with a third belt wheel, so that the second connecting rod is rotatably connected with the third connecting rod.
The other end of the third connecting rod is fixedly connected with a rigid wheel of a fourth harmonic speed reducer through a screw, the right side of the tail end connecting rod is fixedly connected with a flexible wheel connecting plate of the fourth harmonic speed reducer through a bearing, a fourth harmonic speed reducer wave generator is fixedly connected with a fourth belt pulley, and the third connecting rod is connected with the tail end connecting rod in a rotating mode.
The first motor is arranged on the rotating arm, a first harmonic reducer rigid wheel in the first harmonic reducer is fixedly connected with the rotating arm, a first harmonic reducer flexible wheel connecting disc is fixedly connected with the first connecting rod, and a first harmonic reducer wave generator is fixedly connected with the first motor; the second motor is arranged on the second connecting rod, and a motor shaft of the second motor is fixedly connected with the second belt wheel; the second belt wheel is fixedly connected with a motor shaft of the second motor, the first belt wheel is fixedly connected with the second harmonic reducer wave generator, the first belt wheel and the second belt wheel are identical in diameter, are driven by the first synchronous belt and are tensioned by the first tensioning wheel.
The third belt wheel is fixedly connected with a third harmonic reducer wave generator, the diameter of the third belt wheel is the same as that of the second belt wheel, the third belt wheel is driven by the second synchronous belt, and the third belt wheel is tensioned by the second tensioning wheel. The fourth belt wheel is fixedly connected with a fourth harmonic reducer wave generator, the diameter of the fourth belt wheel is the same as that of the third belt wheel, the fourth belt wheel is driven by the third synchronous belt, and the third belt wheel and the fourth belt wheel are tensioned by the third tension wheel and the fourth tension wheel.
The first belt wheel, the second belt wheel and the third belt wheel are fixedly connected with the left side plate of the second connecting rod through bearings.
When the first motor works and the second motor does not work, the first connecting rod, the second connecting rod, the third connecting rod, the tail end connecting rod and all internal components rotate around the axis of the first motor as a whole.
When the second motor rotates and the first motor does not rotate, the first connecting rod is fixed, and the second harmonic reducer rigid wheel is fixed accordingly; the high-speed rotation of the second motor is transmitted to the first belt wheel through the first synchronous belt and then transmitted to the second harmonic reducer wave generator, and the second harmonic reducer flexible wheel is the output of the reducer and transmits the low-speed rotation to the second connecting rod; the high-speed rotation of the second motor is transmitted to the third belt wheel through the second synchronous belt and further transmitted to the third harmonic reducer wave generator, because the third harmonic reducer rigid wheel is fixedly connected with the third connecting rod, and the third harmonic reducer flexible wheel is fixedly connected with the second connecting rod, the third connecting rod can rotate at a low speed around the second connecting rod, the relative rotating speed is equal to the rotating speed of the second connecting rod relative to the first connecting rod, and the direction of the relative rotating speed is opposite to the rotating speed of the second connecting rod relative to the first connecting rod, so that the third connecting rod can be known to perform translational motion; furthermore, the high-speed rotation of the third belt wheel is transmitted to the fourth belt wheel through the third synchronous belt and then transmitted to the fourth harmonic reducer wave generator, because the fourth harmonic reducer rigid wheel is fixedly connected with the third connecting rod, and the fourth harmonic reducer flexible wheel is fixedly connected with the tail end connecting rod, the tail end connecting rod can rotate at a low speed around the third connecting rod, and the size and the direction of the relative rotating speed are the same as those of the second connecting rod relative to the third connecting rod, so that the tail end connecting rod can be known to perform translational motion relative to the second connecting rod. Preferably, in the rotation process of the surgical mechanical arm, the surgical mechanical arm formed by the rotating arm, the first link, the second link, the third link and the tail end link is regarded as a planar link mechanism, and an intersection point of the tail end link and the axis of the first motor is denoted as M; thus, within the planar linkage, the center of the second harmonic reducer is labeled as point a, the center of the third harmonic reducer is labeled as point B, and the center of the fourth harmonic reducer is labeled as point C. The axis of the first motor passes through the points a and M. The connecting line AB of the point A and the point B, the connecting line BC of the point B and the point C, the connecting line CM of the point C and the point M and the connecting line AM of the point A and the point M always form a parallelogram, the point A, the point B, the point C and the point M are four vertexes of the parallelogram, and the point M is a fixed point.
When the first motor and the second motor rotate simultaneously, the tail end connecting rod rotates around the M point in two spatial degrees of freedom.
The beneficial effects and invention points of the invention are as follows: (1) aiming at the point 1 in the background technology, the high-precision two-degree-of-freedom minimally invasive surgery mechanical arm provided by the invention adopts a belt transmission mode, has a compact structure, is not easy to interfere parts, and has a larger working space; (2) in view of the 2 nd point in the background art, the minimally invasive surgical manipulator adopting the belt transmission or rope transmission mechanism generally restricts the motion of each joint through a plurality of closed-loop belts or ropes, and drives the joint closest to the base through the speed reduction motor installed on the first connecting rod to realize the rotation of the tail end around the remote motion center. If the original driving installation mode is kept, and the speed reducer is directly added on each joint, the tail end of the mechanical arm cannot rotate around a remote motion center, but the motion mode is more complex. According to the mechanical arm, the second motor is arranged on the second connecting rod, the rotation is transmitted to each joint through synchronous belt transmission, and further the rotation of the joints is realized through harmonic reducer transmission, so that the rotation of the tail end around a remote motion center can be realized, the rotation precision of a tail end instrument is improved, and the bearing capacity of the mechanical arm is also improved.
Note: the foregoing designs are not sequential, each of which provides a distinct and significant advance in the present invention over the prior art.
Drawings
Fig. 1 is a schematic structural diagram of a high-precision two-degree-of-freedom minimally invasive surgical manipulator according to an embodiment of the invention.
FIG. 2 is a schematic structural diagram of a high-precision two-degree-of-freedom minimally invasive surgical manipulator according to an embodiment of the invention.
FIG. 3 is a schematic structural diagram of a high-precision two-degree-of-freedom minimally invasive surgical manipulator according to an embodiment of the invention.
FIG. 4 is a cross-sectional view of a high-precision two-degree-of-freedom minimally invasive surgical manipulator according to an embodiment of the invention.
FIG. 5 is a cross-sectional view of a high-precision two-degree-of-freedom minimally invasive surgical manipulator according to an embodiment of the invention.
FIG. 6 is a cross-sectional view of a high-precision two-degree-of-freedom minimally invasive surgical manipulator according to an embodiment of the invention.
In the figure, 1-rotating arm, 2-first link, 3-second link, 4-third link, 5-end link, 501-instrument mounting plate, 502-end actuator, 6-first harmonic reducer, 7-second harmonic reducer, 8-third harmonic reducer, 9-fourth harmonic reducer, 10-first motor, 11-second motor, 12-first pulley, 13-second pulley, 14-third pulley, 15-fourth pulley, 16-first tensioning wheel, 17-second tensioning wheel, 18-third tensioning wheel, 19-fourth tensioning wheel, 20-first synchronous belt, 21-second synchronous belt, 22-third synchronous belt, 121-first pulley first groove, 122-first pulley second groove, 131-second pulley first groove, 132-second pulley second groove, 141-third pulley first groove, 142-third pulley second groove, 301-second link right side plate, 302-second link left side plate, 601-first harmonic reducer rigid wheel, 602-first harmonic reducer flexible wheel connecting disc, 603-first harmonic reducer wave generator, 701-second harmonic reducer rigid wheel, 702-second harmonic reducer flexible wheel connecting disc, 703-second harmonic reducer wave generator, 801-third harmonic reducer rigid wheel, 802-third harmonic reducer flexible wheel connecting disc, 803-third harmonic reducer wave generator, 901-fourth harmonic reducer rigid wheel, 902-fourth harmonic reducer flexible wheel connecting disc, 903-fourth harmonic reducer wave generator.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are given to illustrate the present invention, but are not intended to limit the scope of the present invention.
As shown in fig. 1-6, the high-precision two-degree-of-freedom minimally invasive surgical manipulator of the invention comprises: the synchronous belt comprises a rotating arm 1, a first connecting rod 2, a second connecting rod 3, a third connecting rod 4, a tail end connecting rod 5, a first harmonic speed reducer 6, a second harmonic speed reducer 7, a third harmonic speed reducer 8, a fourth harmonic speed reducer 9, a first motor 10, a second motor 11, a first belt pulley 12, a second belt pulley 13, a third belt pulley 14, a fourth belt pulley 15, a first tensioning pulley 16, a second tensioning pulley 17, a third tensioning pulley 18, a fourth tensioning pulley 19, a first synchronous belt 20, a second synchronous belt 21 and a third synchronous belt 22.
The first harmonic reducer 6 comprises a first harmonic reducer rigid wheel 601, a first harmonic reducer flexible wheel connecting disc 602 and a first harmonic reducer wave generator 603.
The second harmonic reducer 7 comprises a second harmonic reducer rigid wheel 701, a second harmonic reducer flexible wheel connecting disc 702 and a second harmonic reducer wave generator 703.
The third harmonic reducer 8 comprises a third harmonic reducer rigid wheel 801, a third harmonic reducer flexible wheel connecting disc 802 and a third harmonic reducer wave generator 803.
The fourth harmonic reducer 9 includes a fourth harmonic reducer rigid wheel 901, a fourth harmonic reducer flexible wheel connection disc 902, and a fourth harmonic reducer wave generator 903.
The second link 3 includes a second link right side plate 301 and a second link left side plate 302.
The end link 5 comprises an instrument mounting plate 501, an end effector 502; the end effector 502 is mounted on the instrument mounting plate 501 and facilitates the exchange of end effectors 502 of different functions.
The first pulley 12 includes a first pulley first groove 121 and a first pulley second groove 122.
The second pulley 13 includes a second pulley first groove 131 and a second pulley second groove 132.
The third pulley 14 includes a third pulley first groove 141 and a third pulley second groove 142.
The first timing belt 20 is wound around the first pulley first groove 121 and the second pulley first groove 131.
The second timing belt 21 is wound around the third pulley second groove 142 and the second pulley second groove 132.
The third timing belt 22 is wound around the third pulley first groove 141 and the fourth pulley 15.
The first motor 10 is installed on the rotating arm 1, the first harmonic reducer rigid gear 601 in the first harmonic reducer 6 is fixedly connected with the rotating arm 1, the first harmonic reducer flexible gear connecting disc 602 is fixedly connected with the first connecting rod 2, the first harmonic reducer wave generator 603 is fixedly connected with the first motor 10, and the first pulley 12 is fixedly connected with the second harmonic reducer wave generator 703, so that the rotating arm 1 is rotatably connected with the first connecting rod 2.
The second motor 11 is mounted on the second connecting rod, a motor shaft of the second motor 11 is fixedly connected with the second belt pulley 13, and the third belt pulley 14 is fixedly connected with the third harmonic reducer wave generator 803; the first pulley 12 has the same diameter as the second pulley 13, is driven by the first timing belt 20, and is tensioned by the first tension pulley 16.
The third pulley 14 is fixedly connected to the third harmonic reducer wave generator 803, and the third pulley 14 and the second pulley 13 have the same diameter, are driven by the second timing belt 21, and are tensioned by the second tensioning pulley 17.
The fourth pulley 15 is fixedly connected to the fourth harmonic reducer wave generator 903, and the fourth pulley 15 and the third pulley 14 have the same diameter, are driven by the third synchronous belt 22, and are tensioned by the third tensioning pulley 18 and the fourth tensioning pulley 19.
The first connecting rod 2 is fixedly connected with the second harmonic reducer rigid gear 701 in the second harmonic reducer 7 through a screw, the second harmonic reducer flexible gear connecting disc 702 is fixedly connected with the second connecting rod right side plate 301 through a bearing, and the second harmonic reducer wave generator 703 is fixedly connected with the first belt pulley 12, so that the first connecting rod 2 is rotatably connected with the second connecting rod 3.
The other end of the second connecting rod right side plate 301 is fixedly connected with a third harmonic speed reducer flexible wheel connecting disc 802 through a bearing, the third connecting rod 4 is fixedly connected with a third harmonic speed reducer rigid wheel 801 in a third harmonic speed reducer 8 through a screw, and a third harmonic speed reducer wave generator 803 is fixedly connected with a third belt wheel 14, so that the second connecting rod 3 is rotatably connected with the third connecting rod 4.
The other end of the third connecting rod 3 is fixedly connected with the fourth harmonic reducer rigid wheel 901 through a screw, the right side of the tail end connecting rod 5 is fixedly connected with the fourth harmonic reducer flexible wheel connecting disc 902 through a bearing, and the fourth harmonic reducer wave generator 903 is fixedly connected with the fourth pulley 15, so that the third connecting rod 4 is rotatably connected with the tail end connecting rod 5.
The first belt pulley 12, the second belt pulley 13 and the third belt pulley 14 are fixedly connected with the second connecting rod left side plate 302 through bearings.
The second tensioning wheel 17 comprises a tensioning pulley, a tensioning bearing and a tensioning shaft, the tensioning pulley is fixedly connected with the tensioning bearing through interference fit, an inner ring of the tensioning bearing is fixedly connected with the tensioning shaft through interference fit, and the tensioning shaft is fixedly connected with the left side plate 302 of the second connecting rod.
The third tensioning wheel 18 and the fourth tensioning wheel 19 comprise tensioning pulleys, tensioning bearings and tensioning shafts, the tensioning pulleys are fixedly connected with outer rings of the tensioning bearings through interference fit, inner rings of the tensioning bearings are fixedly connected with the tensioning shafts through interference fit, and the tensioning shafts are fixedly connected with the third connecting rod 4.
When the first motor 10 works and the second motor 11 does not work, the first connecting rod 2, the second connecting rod 3, the third connecting rod 4, the tail end connecting rod 5 and all internal components rotate around the axis of the first motor 10 as a whole.
When the second motor 11 rotates and the first motor 10 does not rotate, the first connecting rod 2 is fixed, and the second harmonic reducer rigid gear 701 is also fixed; the high-speed rotation of the second motor 10 is transmitted to the first pulley 12 through the first synchronous belt 20, and then transmitted to the second harmonic reducer generator 703, and the second harmonic reducer flexspline 702 is the output of the reducer, and transmits the low-speed rotation to the second connecting rod 3; the high-speed rotation of the second motor 11 is transmitted to the third pulley 14 through the second synchronous belt 21, and further transmitted to the third harmonic reducer wave generator 803, because the third harmonic reducer rigid wheel 801 is fixedly connected to the third link 4, and the third harmonic reducer flexible wheel 802 is fixedly connected to the second link 3, the third link 4 can rotate at a low speed around the second link 3, and the relative rotation speed is equal to the rotation speed of the second link 3 relative to the first link 2, and the direction of the relative rotation speed is opposite to the direction of the rotation speed of the second link 3 relative to the first link 2, so that the third link 4 can be known to perform translational motion; further, the high-speed rotation of the third pulley 14 is transmitted to the fourth pulley 15 through the third synchronous belt 22, and then transmitted to the fourth harmonic reducer wave generator 903, because the fourth harmonic reducer rigid gear 901 is fixedly connected to the third link 4, and the fourth harmonic reducer flexible gear 902 is fixedly connected to the end link 5, the end link 5 can rotate at a low speed around the third link 4, and the magnitude and direction of the relative rotation speed are the same as the magnitude and direction of the rotation speed of the second link 3 relative to the third link 4, so that it can be known that the end link 5 makes translational movement relative to the second link 3. Preferably, during the rotation of the surgical robot arm, the surgical robot arm formed by the rotating arm 1, the first link 2, the second link 3, the third link 4 and the end link 5 is regarded as a planar link mechanism, and the intersection point of the end link and the axis of the first motor is denoted as M. Thus, in the planar linkage, the center of the second harmonic reducer 7 is marked as point a, the center of the third harmonic reducer 8 is marked as point B, and the center of the fourth harmonic reducer 9 is marked as point C. The axis of the first motor 10 passes through the points a and M. The connecting line AB of the point A and the point B, the connecting line BC of the point B and the point C, the connecting line CM of the point C and the point M and the connecting line AM of the point A and the point M always form a parallelogram, the point A, the point B, the point C and the point M are four vertexes of the parallelogram, and the point M is a fixed point.
When the first motor 10 and the second motor 11 rotate simultaneously, the end connecting rod 5 rotates around the point M with two degrees of freedom in space.
The minimally invasive surgery mechanical arm with the two-degree-of-freedom remote motion center is compact in structure, high in precision and large in working space range, the rotation of the second motor 11 mounted on the second connecting rod 3 is transmitted to the second harmonic speed reducer 7 and the third harmonic speed reducer 8 through synchronous belt transmission, then is output to the third connecting rod 4, and then is output to the tail end connecting rod 5 through the fourth belt pulley 15 to drive the fourth harmonic speed reducer 9 to rotate around the fixed point M, so that the tail end actuator 502 rotates around the fixed point M, and the minimally invasive surgery mechanical arm with the two-degree-of-freedom remote motion center has the advantages of being small in load inertia, high in position precision and rotation precision and large in working space range.
The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A high-precision two-degree-of-freedom minimally invasive surgery mechanical arm is characterized in that: the device comprises a rotating arm (1), a first connecting rod (2), a second connecting rod (3), a third connecting rod (4), a tail end connecting rod (5), a first harmonic reducer (6), a second harmonic reducer (7), a third harmonic reducer (8), a fourth harmonic reducer (9), a first motor (10), a second motor (11), a first belt wheel (12), a second belt wheel (13), a third belt wheel (14), a fourth belt wheel (15), a first tensioning wheel (16), a second tensioning wheel (17), a third tensioning wheel (18), a fourth tensioning wheel (19), a first synchronous belt (20), a second synchronous belt (21) and a third synchronous belt (22);
the first harmonic reducer (6) comprises a first harmonic reducer rigid wheel (601), a first harmonic reducer flexible wheel connecting disc (602) and a first harmonic reducer wave generator (603);
the second harmonic reducer (7) comprises a second harmonic reducer rigid wheel (701), a second harmonic reducer flexible wheel connecting disc (702) and a second harmonic reducer wave generator (703);
the third harmonic reducer (8) comprises a third harmonic reducer rigid wheel (801), a third harmonic reducer flexible wheel connecting disc (802) and a third harmonic reducer wave generator (803);
the fourth harmonic reducer (9) comprises a fourth harmonic reducer rigid wheel (901), a fourth harmonic reducer flexible wheel connecting disc (902) and a fourth harmonic reducer wave generator (903);
the second connecting rod (3) comprises a second connecting rod right side plate (301) and a second connecting rod left side plate (302); the tail end connecting rod (5) comprises an instrument mounting plate (501) and an end effector (502); the end effector (502) is mounted on the instrument mounting plate (501);
the first pulley (12) comprises a first pulley first groove (121), a first pulley second groove (122);
the second pulley (13) comprises a second pulley first groove (131), a second pulley second groove (132);
the third pulley (14) comprises a third pulley first groove (141), a third pulley second groove (142);
the first motor (10) is mounted on the rotating arm (1), the first harmonic reducer rigid wheel (601) in the first harmonic reducer (6) is fixedly connected with the rotating arm (1), the first harmonic reducer flexible wheel connecting disc (602) is fixedly connected with the first connecting rod (2), and the first harmonic reducer wave generator (603) is fixedly connected with the first motor (10); the second motor (11) is arranged on the second connecting rod, and a motor shaft of the second motor (11) is fixedly connected with the second belt wheel (13); the first belt wheel (12) is fixedly connected with the second harmonic reducer wave generator (703), and the third belt wheel (14) is fixedly connected with the third harmonic reducer wave generator (803); the fourth belt wheel (15) is fixedly connected with the fourth harmonic reducer wave generator (903);
when the first motor (10) works and the second motor (11) does not work, the first connecting rod (2), the second connecting rod (3), the third connecting rod (4), the tail end connecting rod (5) and each internal component rotate around the axis of the first motor (10) as a whole;
when the second motor (11) rotates and the first motor (10) does not rotate, the first connecting rod (2) is fixed, and the second harmonic reducer rigid wheel (701) is fixed therewith; the high-speed rotation of the second motor (10) is transmitted to the first belt wheel (12) through the first synchronous belt (20) and further transmitted to the second harmonic reducer wave generator (703), and the second harmonic reducer flexible wheel (702) is the output of a reducer and transmits the low-speed rotation to the second connecting rod (3); the high-speed rotation of the second motor (11) is transmitted to the third belt wheel (14) through the second synchronous belt (21) and further transmitted to the third harmonic reducer wave generator (803), because the third harmonic reducer rigid wheel (801) is fixedly connected with the third connecting rod (4), and the third harmonic reducer flexible wheel (802) is fixedly connected with the second connecting rod (3), the third connecting rod (4) can rotate at a low speed around the second connecting rod (3), the relative rotating speed is equal to the rotating speed of the second connecting rod (3) relative to the first connecting rod (2), and the direction of the relative rotating speed is opposite to the direction of the rotating speed of the second connecting rod (3) relative to the first connecting rod (2), so that the third connecting rod (4) can be known to perform translational motion; further, the high-speed rotation of the third pulley (14) is transmitted to the fourth pulley (15) through the third synchronous belt (22) and further transmitted to the fourth harmonic reducer wave generator (903), because the fourth harmonic reducer rigid wheel (901) is fixedly connected with the third connecting rod (4), and the fourth harmonic reducer flexible wheel (902) is fixedly connected with the end connecting rod (5), the end connecting rod (5) can rotate at a low speed around the third connecting rod (4), and the magnitude and direction of the relative rotation speed are the same as the magnitude and direction of the rotation speed of the second connecting rod (3) relative to the third connecting rod (4), so that the end connecting rod (5) can be known to perform translational motion relative to the second connecting rod (3); preferably, in the rotation process of the surgical mechanical arm, the surgical mechanical arm formed by the rotating arm (1), the first connecting rod (2), the second connecting rod (3), the third connecting rod (4) and the tail end connecting rod (5) is always regarded as a planar connecting rod mechanism, and the intersection point of the tail end connecting rod (5) and the axis of the first motor (10) is recorded as M; thus, within the planar linkage, the centre of the second harmonic reducer (7) is marked as point a, the centre of the third harmonic reducer (8) is marked as point B, and the centre of the fourth harmonic reducer (9) is marked as point C; the axis of the first motor (10) passes through the points A and M; a connecting line AB between the point A and the point B, a connecting line BC between the point B and the point C, a connecting line CM between the point C and the point M, and a connecting line AM between the point A and the point M always form a parallelogram, the point A, the point B, the point C and the point M are all four vertexes of the parallelogram, and the point M is a fixed point;
when the first motor (10) and the second motor (11) rotate simultaneously, the tail end connecting rod (5) rotates around the M point in two spatial degrees of freedom.
2. The high-precision two-degree-of-freedom minimally invasive surgical manipulator according to claim 1, characterized in that: the first harmonic reducer (6), the second harmonic reducer (7), the third harmonic reducer (8) and the fourth harmonic reducer (9) are identical.
3. The high-precision two-degree-of-freedom minimally invasive surgical manipulator according to claim 1, characterized in that: the first connecting rod (2) is fixedly connected with the second harmonic reducer rigid wheel (701) through a screw, the second harmonic reducer flexible wheel connecting disc (702) is fixedly connected with the second connecting rod right side plate (301) through a bearing, and the second harmonic reducer wave generator (703) is fixedly connected with the first belt wheel (12), so that the first connecting rod (2) is connected with the second connecting rod (3) in a rotating mode.
4. The high-precision two-degree-of-freedom minimally invasive surgical manipulator according to claim 1, characterized in that the other end of the right side plate (301) of the second connecting rod is fixedly connected with the flexible wheel connecting plate (802) of the third harmonic speed reducer through a bearing, the third connecting rod (4) is fixedly connected with the rigid wheel (801) of the third harmonic speed reducer through a screw, and the wave generator (803) of the third harmonic speed reducer is fixedly connected with the third belt wheel (14), so that the rotational connection of the second connecting rod (3) and the third connecting rod (4) is formed.
5. The high-precision two-degree-of-freedom minimally invasive surgical manipulator according to claim 1, characterized in that: the other end of the third connecting rod (4) is fixedly connected with a fourth harmonic speed reducer rigid wheel (901) through a screw, the right side of the tail end connecting rod (5) is fixedly connected with a fourth harmonic speed reducer flexible wheel connecting disc (902) through a bearing, and a fourth harmonic speed reducer wave generator (903) is fixedly connected with a fourth belt wheel (15), so that the third connecting rod (4) is rotatably connected with the tail end connecting rod (5).
6. The high-precision two-degree-of-freedom minimally invasive surgical manipulator according to claim 1, characterized in that: the tooth-shaped structures of the first synchronous belt (20), the second synchronous belt (21) and the third synchronous belt (22) are the same.
7. The high precision two degree of freedom minimally invasive surgical manipulator of claim 1, wherein: the first belt wheel (12) and the second belt wheel (13) have the same diameter, are transmitted through the first synchronous belt (20), and are tensioned by the first tensioning wheel (16).
8. The high-precision two-degree-of-freedom minimally invasive surgical manipulator according to claim 1, characterized in that: the third belt wheel (14) and the second belt wheel (13) have the same diameter, are driven by the second synchronous belt (21), and are tensioned by the second tensioning wheel (17); the second tensioning wheel (17) comprises a tensioning pulley, a tensioning bearing and a tensioning shaft.
9. The high-precision two-degree-of-freedom minimally invasive surgical manipulator according to claim 1, characterized in that: the diameter of the fourth belt wheel (15) is the same as that of the third belt wheel (14), the fourth belt wheel is driven by the third synchronous belt (22), and the fourth belt wheel is tensioned by the third tensioning wheel (18) and the fourth tensioning wheel (19); the third tensioning wheel (18) and the fourth tensioning wheel (19) respectively comprise a tensioning pulley, a tensioning bearing and a tensioning shaft.
10. The high-precision two-degree-of-freedom minimally invasive surgical manipulator according to claim 1, characterized in that: the first belt wheel (12), the second belt wheel (13) and the third belt wheel (14) are connected with the second connecting rod left side plate (302) through bearings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111204707.0A CN113907888A (en) | 2021-10-15 | 2021-10-15 | High-precision two-degree-of-freedom minimally invasive surgery mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111204707.0A CN113907888A (en) | 2021-10-15 | 2021-10-15 | High-precision two-degree-of-freedom minimally invasive surgery mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN113907888A true CN113907888A (en) | 2022-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111204707.0A Withdrawn CN113907888A (en) | 2021-10-15 | 2021-10-15 | High-precision two-degree-of-freedom minimally invasive surgery mechanical arm |
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| Country | Link |
|---|---|
| CN (1) | CN113907888A (en) |
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2021
- 2021-10-15 CN CN202111204707.0A patent/CN113907888A/en not_active Withdrawn
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Application publication date: 20220111 |