CN114159106B - Telecentric fixed point structure based on steel belt transmission for minimally invasive surgery - Google Patents
Telecentric fixed point structure based on steel belt transmission for minimally invasive surgery Download PDFInfo
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- CN114159106B CN114159106B CN202010952776.9A CN202010952776A CN114159106B CN 114159106 B CN114159106 B CN 114159106B CN 202010952776 A CN202010952776 A CN 202010952776A CN 114159106 B CN114159106 B CN 114159106B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 89
- 239000010959 steel Substances 0.000 title claims abstract description 89
- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 44
- 230000005540 biological transmission Effects 0.000 title claims abstract description 32
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 210000000245 forearm Anatomy 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 17
- 238000010586 diagram Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive 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
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
Abstract
A telecentric fixed point structure based on steel belt transmission for minimally invasive surgery relates to the technical field of minimally invasive surgical instruments, and can effectively solve the technical problems that an existing parallelogram rod piece type telecentric fixed point structure has poor return stroke, poor running stability and low repeated positioning precision. The telecentric fixed point structure based on the steel belt transmission for the minimally invasive surgery adopts parallelogram steel belt transmission, and is formed by two stages of steel belt wheel sets, wherein one point on the radius extension line of the rear-stage belt wheel forms a telecentric fixed point with one degree of freedom; and moreover, the arm structure of the robot can drive surgical instruments and the like to complete the movement around the telecentric fixed point, so that the robot has the advantages of high reliability, good movement stability, good rigidity, small structural gap, capability of effectively eliminating return stroke difference, high repeated positioning precision, accurate telecentric position, compact structure and easy control, and is suitable for the actual requirements in minimally invasive surgery.
Description
Technical Field
The invention relates to the technical field of minimally invasive surgical instruments, in particular to a telecentric fixed point structure based on steel belt transmission for minimally invasive surgery.
Background
Minimally invasive surgery refers to the operation of only 3-4 small holes on the body of a patient and extending a miniature surgical instrument and an endoscope into the human body; the type of surgery has small trauma and quick postoperative recovery.
However, the traditional routine operation is that a doctor operates a rod type instrument, the operation enters a human body through a fixed point at an intervention part of the human body, the movement principle is the lever principle, and the front end movement of the operation instrument is opposite to the rear end hand-held part, so that the operation is not easy.
In response to such problems, the robot has been introduced into a minimally invasive surgery, and the minimally invasive surgery robot has also been developed with an increase in the requirements on the level of the minimally invasive surgery. The robot is used for operating the instrument, the operation of the surgical instrument can be accurately and flexibly completed, the motion of the front end of the surgical instrument is consistent with the control of hands of a doctor through special algorithm processing and operation, and the shake of the doctor in the operation process can be effectively filtered.
In the robot operation process, the surgical instrument can only insert the Kong Weizhun heart, can rotate around the Kong Fuang, swing, rotate from the shaft and stretch out and draw back from inside to outside to perform telecentric motion; thus, the arm structure of the robot is required to drive the surgical instrument to complete the motion around the telecentric fixed point.
The existing RCM (remote center of motion-remote movement center) mechanism is mainly of an isocentric type, a circular rotary type, a parallelogram rod type, a spherical hinge connection type, a tripod head type, a parallel wrist rotary type and the like. Among them, a parallelogram rod type structure is more common; such structures generally comprise a two-stage parallelogram structure formed by a plurality of parallel rods, and a telecentric stationary point is formed at the lower node of the latter-stage parallelogram.
The parallelogram rod member structure has the advantages of simple structure, convenient installation and the like; however, because the connecting points are more, gaps at all positions can be accumulated, and the gap amplifying effect is larger when the gaps are near the limit position, the problem of the gap of the component is unavoidable, the movement has poor return stroke, the running stability of the system is finally affected, and the repeated positioning precision is poor.
Disclosure of Invention
The invention aims to provide a telecentric fixed point structure based on steel belt transmission for minimally invasive surgery, which can effectively solve the technical problems that the existing parallelogram rod piece telecentric fixed point structure has poor return stroke, poor running stability and low repeated positioning precision.
The invention is realized in the following way:
a steel belt driven telecentric dead point structure for minimally invasive surgery, comprising: the device comprises a rotating base and an intermediate arm connected with the rotating base, wherein one end of the intermediate arm, which is far away from the rotating base, is connected with a front arm, one end of the front arm, which is far away from the intermediate arm, is connected with an instrument sliding arm, and the instrument sliding arm is connected with a surgical instrument;
the rotary base is a fixing piece, the middle arm can rotate around a connecting point of the middle arm and the rotary base, namely a first axis, the front arm can rotate around a connecting point of the front arm and the middle arm, namely a second axis, and the instrument sliding arm can rotate around a connecting point of the front arm and the front arm, namely a third axis;
the rotary base is provided with a driving motor, the driving motor is connected with a speed reducer through a toothed belt, and the output end of the speed reducer is coaxially connected with the middle arm; the rotary base is fixed with a first driving disc which does not rotate, the first driving disc is connected with a second driving disc through a driving steel belt, and the second driving disc is coaxially fixed with the forearm; the middle arm is coaxially fixed with a first driven disc, the first driven disc is connected with a second driven disc through a driven steel belt, and the second driven disc is coaxially fixed with the instrument sliding arm;
the driving motor sequentially passes through the toothed belt and the speed reducer, and transmits power to the middle arm coaxially connected with the speed reducer, so that the middle arm can actively rotate; when the middle arm rotates, the second axle center rotates around the first axle center, and the first driving disc does not rotate, so that the second driving disc connected with the driving steel belt rotates around the second axle center under the reverse drive of the driving steel belt, namely, the front arm coaxially connected with the second driving disc is simultaneously driven to rotate around the second axle center; at this time, if the second axis is a reference stationary point and the front arm is relatively stationary, the first driven disc fixed to the middle arm is relatively rotated, that is, the driven steel belt and the second driven disc can be sequentially driven to rotate, and the apparatus sliding arm is coaxially fixed to the second driven disc, so that the apparatus sliding arm can be simultaneously driven to rotate around the third axis;
the first axis, the second axis, the third axis and the virtual intersection point form a parallelogram structure, when the first axis is taken as a fixed reference point, the virtual intersection point is a telecentric fixed point, and one point on the surgical instrument can pass through the telecentric fixed point and can rotate around the telecentric fixed point.
The first driving disc and the second driving disc adopt equal-diameter structures.
The first driven plate and the second driven plate adopt an equal-diameter structure.
When in practical application, the telecentric fixed point structure based on the steel belt transmission for minimally invasive surgery further comprises: and the adjusting device is used for adjusting the position of the telecentric fixed point.
In the preferable telecentric fixed point structure based on the steel belt transmission for minimally invasive surgery, the adjusting device consists of the first driving disc, the rotating base and a standard part expansion sleeve; after the first driving disc rotates by any angle relative to the corresponding axis of the rotating base, the first driving disc and the rotating base can be locked and fixedly connected into a whole through the standard part expansion sleeve.
When in practical application, the telecentric fixed point structure based on the steel belt transmission for minimally invasive surgery further comprises: the pre-tightening device is used for adjusting the tension of the driving steel belt and/or the driven steel belt; the driving steel belt and the driven steel belt are of an opening structure, and after 180-degree bending is conducted on two ends of the opening structure, a closed hole is formed.
In the preferable telecentric fixed point structure based on the steel belt transmission for minimally invasive surgery, the pre-tightening device comprises: the device comprises a first pin shaft, a second pin shaft, a first pull plate, a second pull plate, a flat end set screw and a cylindrical head screw;
the first pin shaft and the second pin shaft respectively pass through the closed holes at the two ends of the driving steel belt or the driven steel belt and respectively pass through the first pulling plate and the second pulling plate correspondingly; the cylindrical head screw positioned in the middle part is screwed into the first threaded hole on the second pulling plate through the through hole on the first pulling plate so as to tighten the first pulling plate and the second pulling plate, and the driving steel belt or the driven steel belt is pre-tightened through the first pin shaft and the second pin shaft;
the flat end set screw is screwed in by a second threaded hole on the second pull plate and is propped in the blind hole of the first pull plate, so that the first pull plate and the second pull plate are kept parallel.
In the preferable telecentric fixed point structure based on the steel belt transmission for minimally invasive surgery, the flat-end set screw comprises two parallel set screws which are respectively positioned at two sides of the cylindrical head screw.
The beneficial effects of the invention are as follows: the telecentric fixed point structure based on the steel belt transmission for minimally invasive surgery adopts a parallelogram belt transmission, namely the steel belt transmission, and is formed by two stages of steel belt wheel sets, wherein the telecentric fixed point structure is formed by one point on the lower extension line of one side of the parallelogram, namely one point on the radius extension line of the rear-stage belt wheel; and moreover, the arm structure of the robot can drive surgical instruments and the like to complete the movement around the telecentric fixed point, so that the robot has the advantages of high reliability, good movement stability, good rigidity, small structural gap, capability of effectively eliminating return stroke difference, high repeated positioning precision, accurate telecentric position, compact structure and easy control, and is suitable for the actual requirements in minimally invasive surgery.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of a first view angle structure of a telecentric fixed point structure based on a steel belt transmission for minimally invasive surgery according to an embodiment of the invention;
fig. 2 is a schematic diagram of a second view angle structure of a telecentric fixed point structure based on a steel belt transmission for minimally invasive surgery according to an embodiment of the invention;
fig. 3 is a schematic view of a third view angle structure of a telecentric fixed point structure based on a steel belt transmission for minimally invasive surgery according to an embodiment of the invention;
fig. 4 is a schematic diagram of a fourth view angle structure of a telecentric fixed point structure based on a steel belt transmission for minimally invasive surgery according to an embodiment of the invention;
fig. 5 is a schematic diagram of a motion track of a telecentric fixed point structure based on steel belt transmission for minimally invasive surgery according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a telecentric fixed point structure based on steel belt transmission for minimally invasive surgery according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an adjusting device and a pre-tightening device in a telecentric fixed point structure based on steel belt transmission for minimally invasive surgery according to an embodiment of the invention.
In the figure:
1-a rotating base; 2-an intermediate arm; 3-forearm; 4-an instrument slide arm; 5-driving a motor; 6-toothed belt; 7-a speed reducer; 8-a first active disc; 9-driving steel belts; 10-a second active disc; 11-a first driven disc; 12-driven steel strip; 13-a second driven disc; 14-surgical instruments; 15-a standard part expansion sleeve; 16-a first pulling plate; 171-a first pin; 172-a second pin; 18-a second pulling plate; 19-flat end set screw; 20-a cylindrical head screw; OA-first axis; OB-second axis; OC-third axis; OD-telecentric stationary point.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1-6, the present embodiment provides a telecentric fixed point structure based on steel belt transmission for minimally invasive surgery, which includes: the device comprises a rotating base 1 and an intermediate arm 2 connected with the rotating base 1, wherein one end of the intermediate arm 2 far away from the rotating base 1 is connected with a front arm 3, one end of the front arm 3 far away from the intermediate arm 2 is connected with an instrument sliding arm 4, and the instrument sliding arm 4 is connected with a surgical instrument 14;
wherein the rotating base 1 is a fixed part, the middle arm 2 can rotate around a connecting point between itself and the rotating base 1, namely, the first axis OA, the front arm 3 can rotate around a connecting point between itself and the middle arm 2, namely, the second axis OB, and the instrument sliding arm 4 can rotate around a connecting point between itself and the front arm 3, namely, the third axis OC;
specifically, the rotary base 1 is provided with a driving motor 5, the driving motor 5 is connected with a speed reducer 7 through a toothed belt 6, and the output end of the speed reducer 7 is coaxially connected with the middle arm 2; the rotating base 1 is fixed with a first driving disk 8 which does not rotate, the first driving disk 8 is connected with a second driving disk 10 through a driving steel belt 9, and the second driving disk 10 is coaxially fixed with the forearm 3; the middle arm 2 is coaxially fixed with a first driven disc 11, the first driven disc 11 is connected with a second driven disc 13 through a driven steel belt 12, and the second driven disc 13 is coaxially fixed with the instrument sliding arm 4;
during transmission, the driving motor 5 sequentially passes through the toothed belt 6 and the speed reducer 7, and transmits power to the middle arm 2 coaxially connected with the speed reducer 7, so that the middle arm 2 can actively rotate; when the middle arm 2 rotates, the second axis OB rotates around the first axis OA, and the first driving disc 8 does not rotate, so that the second driving disc 10 connected with the driving steel belt 9 rotates around the second axis OB under the reverse drive of the driving steel belt 9, that is, the front arm 3 coaxially connected with the second driving disc 10 is simultaneously driven to rotate around the second axis OB; at this time, if the second axis OB is the reference stationary point and the front arm 3 is relatively stationary, the first driven disc 11 fixed with the middle arm 2 is relatively rotated, that is, the driven steel belt 12 and the second driven disc 13 can be sequentially driven to rotate, and meanwhile, the apparatus sliding arm 4 is coaxially fixed with the second driven disc 13, so that the apparatus sliding arm 4 can be simultaneously driven to rotate around the third axis OC;
further, a parallelogram structure (AB, BC, CD, DA on four sides) is formed by the first axis OA, the second axis OB, the third axis OC and the virtual intersection point, when the first axis OA is taken as a fixed reference point, the virtual intersection point is the telecentric stationary point OD, and one point on the surgical instrument 14 must pass through the telecentric stationary point OD and can rotate around the telecentric stationary point OD, so that the arm structure of the robot can drive the surgical instrument 14 and the like to complete the movement around the telecentric stationary point OD, as Y' in fig. 5 is the movement range of the surgical instrument, which can be 0-120 °, but is not limited to the angle range.
The embodiment of the invention has the beneficial effects that: the telecentric fixed point structure based on the steel belt transmission for minimally invasive surgery adopts a parallelogram belt transmission, namely the steel belt transmission, and is formed by two stages of steel belt wheel sets, wherein the telecentric fixed point structure is formed by one point on the lower extension line of one side of the parallelogram, namely one point on the radius extension line of the rear-stage belt wheel; and moreover, the arm structure of the robot can drive surgical instruments and the like to complete the movement around the telecentric fixed point, so that the robot has the advantages of high reliability, good movement stability, good rigidity, small structural gap, capability of effectively eliminating return stroke difference, high repeated positioning precision, accurate telecentric position, compact structure and easy control, and is suitable for the actual requirements in minimally invasive surgery.
In the preferred embodiment of the present invention, the first driving disc 8 and the second driving disc 10 have equal diameter structures, that is, the disc diameter of the first driving disc 8 is equal to the disc diameter of the second driving disc 10.
In the preferred embodiment of the present invention, the first driven disc 11 and the second driven disc 13 have equal diameter structures, that is, the disc diameter of the first driven disc 11 is equal to the disc diameter of the second driven disc 13.
In practical application, the telecentric fixed point structure based on the steel belt transmission for minimally invasive surgery provided by the embodiment of the invention can further comprise: adjustment means, which can be used to adjust the position of the telecentric stationary point OD.
In the preferred steel belt transmission-based telecentric fixed point structure for minimally invasive surgery of the invention, as shown in fig. 7, the above-mentioned adjusting device may be composed of a first driving disc 8, a rotating base 1, and a standard expansion sleeve 15; after the first driving disc 8 rotates by any angle relative to the corresponding axis of the rotating base 1, the first driving disc 8 and the rotating base 1 can be locked and fixedly connected into a whole through the standard part expansion sleeve 15.
Specifically, if the four points OA, OB, OC, OD are not parallelograms due to machining errors, the OD is no longer the theoretical fixed point RCM, and it moves after the whole structure is operated; at this time, the standard part expansion sleeve 15 needs to be loosened, the OA, OB, OC, OD four points are corrected to be in a parallelogram structure, and then the parallelogram structure is locked and fixed.
In practical application, the telecentric fixed point structure based on the steel belt transmission for minimally invasive surgery provided by the embodiment of the invention can further comprise: the pre-tightening device can be used for adjusting the tension of the driving steel belt 9 and/or the driven steel belt 12, so that the return stroke difference is further effectively eliminated, the running stability is ensured, and the repeated positioning precision is improved.
Wherein only the active steel strip 9 may be provided with the pre-tightening device; alternatively, only the driven steel strip 12 may be provided with the pretensioning device; alternatively, it may be preferable that the driving steel strip 9 and the driven steel strip 12 are each provided with the pretensioning device.
Specifically, the driving steel belt 9 and the driven steel belt 12 may both adopt an opening structure, and after both ends of the opening structure are bent at 180 degrees, a closed hole is formed; i.e. the driving steel strip 9 and the driven steel strip 12 each have two closed holes.
In a preferred steel belt driven telecentric fixed point structure for minimally invasive surgery according to the present invention, as shown in fig. 7, the pre-tightening device may comprise: a first pin 171, a second pin 172, a first pull plate 16, a second pull plate 18, a flat end set screw 19, and a cylindrical head screw 20;
specifically, the first pin 171 and the second pin 172 may respectively pass through the closed holes at the two ends of the driving steel belt 9 or the driven steel belt 12, and respectively pass through the first pull plate 16 and the second pull plate 18 correspondingly; and, the cylindrical head screw 20 positioned in the middle part can be screwed into the first threaded hole on the second pulling plate 18 through the through hole on the first pulling plate 16 so as to tighten the first pulling plate 16 and the second pulling plate 18, and the driving steel belt 9 or the driven steel belt 12 is pre-tightened through the first pin 171 and the second pin 172;
further, the flat end set screw 19 may be threaded through a second threaded hole in the second pulling plate 18 and bear against the blind hole in the first pulling plate 16 to maintain the first pulling plate 16 parallel to the second pulling plate 18.
In the preferred steel belt driven telecentric fixed point structure for minimally invasive surgery of the present invention, as shown in fig. 7, the flat end set screws 19 may preferably comprise two flat end set screws arranged in parallel, and the two flat end set screws 19 may be respectively located at two sides of the cylindrical head screw 20.
In summary, the telecentric fixed point structure based on the steel belt transmission for the minimally invasive surgery provided by the embodiment of the invention can effectively eliminate return stroke difference, has accurate telecentric position, high repeated positioning precision and good motion stability, and can be suitable for actual requirements in the minimally invasive surgery.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A telecentric fixed point structure based on steel belt transmission for minimally invasive surgery, characterized by comprising: the device comprises a rotating base and an intermediate arm connected with the rotating base, wherein one end of the intermediate arm, which is far away from the rotating base, is connected with a front arm, one end of the front arm, which is far away from the intermediate arm, is connected with an instrument sliding arm, and the instrument sliding arm is connected with a surgical instrument;
the rotary base is a fixing piece, the middle arm can rotate around a connecting point of the middle arm and the rotary base, namely a first axis, the front arm can rotate around a connecting point of the front arm and the middle arm, namely a second axis, and the instrument sliding arm can rotate around a connecting point of the front arm and the front arm, namely a third axis;
the rotary base is provided with a driving motor, the driving motor is connected with a speed reducer through a toothed belt, and the output end of the speed reducer is coaxially connected with the middle arm; the rotary base is fixed with a first driving disc which does not rotate, the first driving disc is connected with a second driving disc through a driving steel belt, and the second driving disc is coaxially fixed with the forearm; the middle arm is coaxially fixed with a first driven disc, the first driven disc is connected with a second driven disc through a driven steel belt, and the second driven disc is coaxially fixed with the instrument sliding arm;
the driving motor sequentially passes through the toothed belt and the speed reducer, and transmits power to the middle arm coaxially connected with the speed reducer, so that the middle arm can actively rotate; when the middle arm rotates, the second axle center rotates around the first axle center, and the first driving disc does not rotate, so that the second driving disc connected with the driving steel belt rotates around the second axle center under the reverse drive of the driving steel belt, namely, the front arm coaxially connected with the second driving disc is simultaneously driven to rotate around the second axle center; at this time, if the second axis is a reference stationary point and the front arm is relatively stationary, the first driven disc fixed to the middle arm is relatively rotated, that is, the driven steel belt and the second driven disc can be sequentially driven to rotate, and the apparatus sliding arm is coaxially fixed to the second driven disc, so that the apparatus sliding arm can be simultaneously driven to rotate around the third axis;
the first axis, the second axis, the third axis and the virtual intersection point form a parallelogram structure, when the first axis is taken as a fixed reference point, the virtual intersection point is a telecentric fixed point, and one point on the surgical instrument can pass through the telecentric fixed point and can rotate around the telecentric fixed point.
2. The steel belt driven telecentric fixed point structure for minimally invasive surgery of claim 1, wherein the first driving disk and the second driving disk adopt an equal diameter structure.
3. The steel belt driven telecentric dead point structure for minimally invasive surgery of claim 1 or 2, wherein the first driven plate and the second driven plate adopt an equal diameter structure.
4. The steel belt driven telecentric fixed point structure for minimally invasive surgery of claim 1, further comprising: and the adjusting device is used for adjusting the position of the telecentric fixed point.
5. The steel belt drive based telecentric fixed point structure for minimally invasive surgery of claim 4, wherein the adjustment means is constituted by the first driving disc, the swivel base, and a standard expansion sleeve;
after the first driving disc rotates by any angle relative to the corresponding axis of the rotating base, the first driving disc and the rotating base can be locked and fixedly connected into a whole through the standard part expansion sleeve.
6. The steel belt driven telecentric fixed point structure for minimally invasive surgery of claim 1, further comprising: the pre-tightening device is used for adjusting the tension of the driving steel belt and/or the driven steel belt;
the driving steel belt and the driven steel belt are of an opening structure, and after 180-degree bending is conducted on two ends of the opening structure, a closed hole is formed.
7. The steel belt driven telecentric dead point structure for minimally invasive surgery of claim 6, wherein the pre-tightening means comprises: the device comprises a first pin shaft, a second pin shaft, a first pull plate, a second pull plate, a flat end set screw and a cylindrical head screw;
the first pin shaft and the second pin shaft respectively pass through the closed holes at the two ends of the driving steel belt or the driven steel belt and respectively pass through the first pulling plate and the second pulling plate correspondingly; the cylindrical head screw positioned in the middle part is screwed into the first threaded hole on the second pulling plate through the through hole on the first pulling plate so as to tighten the first pulling plate and the second pulling plate, and the driving steel belt or the driven steel belt is pre-tightened through the first pin shaft and the second pin shaft;
the flat end set screw is screwed in by a second threaded hole on the second pull plate and is propped in the blind hole of the first pull plate, so that the first pull plate and the second pull plate are kept parallel.
8. The steel belt driven telecentric dead point structure for minimally invasive surgery of claim 7, wherein the flat end set screw comprises two parallel arranged and located on both sides of the cylindrical head screw, respectively.
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| CN202010952776.9A CN114159106B (en) | 2020-09-11 | 2020-09-11 | Telecentric fixed point structure based on steel belt transmission for minimally invasive surgery |
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| CN104523306A (en) * | 2015-01-05 | 2015-04-22 | 苏州康多机器人有限公司 | Approximate telecentric fixed-point mechanism for minimally invasive surgery operation |
| KR20150003612U (en) * | 2015-08-21 | 2015-10-05 | (주)미래컴퍼니 | RCM structure of surgical robot arm |
| CN109223182A (en) * | 2018-11-21 | 2019-01-18 | 天津工业大学 | A kind of steel belt driving mechanism for the movement of micro-wound operation robot remote center |
| CN110680505A (en) * | 2019-09-20 | 2020-01-14 | 中国地质大学（武汉） | Eight-degree-of-freedom surgical manipulator with closed-loop connecting rod |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104523306A (en) * | 2015-01-05 | 2015-04-22 | 苏州康多机器人有限公司 | Approximate telecentric fixed-point mechanism for minimally invasive surgery operation |
| KR20150003612U (en) * | 2015-08-21 | 2015-10-05 | (주)미래컴퍼니 | RCM structure of surgical robot arm |
| CN109223182A (en) * | 2018-11-21 | 2019-01-18 | 天津工业大学 | A kind of steel belt driving mechanism for the movement of micro-wound operation robot remote center |
| CN110680505A (en) * | 2019-09-20 | 2020-01-14 | 中国地质大学（武汉） | Eight-degree-of-freedom surgical manipulator with closed-loop connecting rod |
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