CN114288027A - RCM platform applied to minimally invasive surgery - Google Patents
RCM platform applied to minimally invasive surgery Download PDFInfo
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- CN114288027A CN114288027A CN202111669111.8A CN202111669111A CN114288027A CN 114288027 A CN114288027 A CN 114288027A CN 202111669111 A CN202111669111 A CN 202111669111A CN 114288027 A CN114288027 A CN 114288027A
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 abstract description 12
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 206010052428 Wound Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 239000013043 chemical agent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002779 inactivation Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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Abstract
The invention discloses an RCM platform applied to minimally invasive surgery, which comprises a bracket (1), a fixed platform (2), a movable platform (6) and three same branches connected between the two platforms, wherein each branch comprises a motor module (7), an arc-shaped guide rail (4) and two hooke hinges respectively connected with the fixed platform and the movable platform, namely the parallel mechanism is a parallel mechanism comprising three URU kinematic chains; the invention has novel and simple structure, easy control, large working space and remote motion center.
Description
Technical Field
The invention belongs to the field of medical instruments and parallel mechanisms, and particularly relates to a three-degree-of-freedom parallel mechanism with a plurality of remote motion centers.
Background
The minimally invasive surgery is a surgical operation which is used for delivering special instruments, physical energy or chemical agents into a human body through tiny wounds to complete the operations of inactivation, excision, repair or reconstruction and the like of pathological changes, deformities and wounds in the human body so as to achieve the purpose of treatment. For the surgical operation of the eye, the manual operation is difficult to meet the requirement due to the characteristics of small operation space, high required operation precision, long operation time and the like of the eye. However, as design and manufacturing techniques advance, the use of robots in the surgical field presents significant advantages. Compared with manual operation, the device has the characteristics of safety, high efficiency, high precision and the like, and is more suitable for high-strength and long-time surgical operation. The existing surgical robot mainly comprises a serial manipulator, and compared with the serial robot, the parallel robot has the characteristics of high strength, high precision and high speed, so that the parallel robot has a wide application prospect in the field of minimally invasive surgery. Currently, most of the promising parallel surgical robots only have one remote motion center and perform fixed-point rotation of a single point. Therefore, the operation platform can be used for carrying out multi-point fixed-point rotation and can be better applied to the field of minimally invasive surgery.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a three-degree-of-freedom parallel mechanism with a plurality of remote motion centers is provided for minimally invasive surgery.
The invention adopts the technical scheme that the three-degree-of-freedom parallel mechanism comprises an arc guide rail and is provided with a plurality of remote motion centers, and is characterized in that: the three branches with the same structure are arranged between a rack (1), a fixed platform (2) and a movable platform, and each branch comprises a motor module (7), an arc guide rail (4) and two Hooke hinges (3) and (5) which are respectively connected with the movable platform and the fixed platform. The movable platform and the fixed platform have the same size, namely the vertical distance from the center of the platform to the rotating shaft connected with the branch is the same. The three branches are symmetrically distributed in space, the axis of a rotating shaft of a hook hinge connected with the fixed platform in each branch is positioned in the plane of the fixed platform, and the corresponding axes in the three branches are intersected to form a regular triangle. The Hooke joint rotating shaft connected with the movable platform in each branch also has the characteristic, and the rotating shafts of the Hooke joints respectively connected with the arc guide rails in each branch are intersected at the circle center of the arc guide rails. The motor module in each branch contains servo motor, winder, cable wire, and motor module links firmly near the hooke hinge at fixed platform, and the cable wire is connected the both ends of circular arc guide rail, tightens up the removal that the cable wire drove the circular arc guide rail through the rotation of motor control winder.
The invention relates to a parallel mechanism with a plurality of remote motion centers, which can realize fixed-point rotation around the remote motion centers, so that the mechanism can carry out multi-point operation in minimally invasive surgery. The platform has the advantages of symmetrical structure, better isotropy, simple structure, easy control and capability of increasing the structural rigidity and the internal space of the platform by introducing the arc-shaped guide rail.
Drawings
The invention is further described with reference to the following figures and detailed description:
FIG. 1 is an overall structural view of the present invention;
FIG. 2 is a view of the construction of the console of the present invention;
FIG. 3 is a block diagram of a branch of the present invention;
FIG. 4 is a block diagram of the motor module of the present invention;
FIG. 5 is a working diagram of the present invention
The figures are labeled as follows:
wherein, 1-a frame; 2-fixing a platform; 3-hook hinge 1; 4-arc guide rail; 5-hook hinge 2; 6-moving the platform; 7-a motor module; 8-end effector; 9-bearing seats; 10-a first shaft seat; 11-a second spindle base; 12-arc guide rail; 13-a third spindle seat; 14-a fourth spindle seat; 15-a servo motor; 16-a spool; 17-shaft seat; 18-platform operating plane; 19-remote centre of motion.
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings and examples. The embodiments described herein are merely illustrative and are not intended to be limiting.
On the contrary, the invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in the following detailed description of the present invention, certain specific details are set forth in order to provide a better understanding of the present invention. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details.
The parallel mechanism is a parallel mechanism comprising three URU kinematic chains.
As shown in figure 1, the invention is composed of a frame 1, a fixed platform 2, branches (3, 4, 5), a movable platform 6 and a motor module 7. The three branches are symmetrically distributed, wherein as shown in fig. 3, the branch arc guide rail is fixedly connected with the third rotating shaft seat 13 and is connected with the second rotating shaft seat 11 through a sliding block so as to be capable of sliding relatively. The two ends of the arc guide rail 12 are connected with a driving rope. The motor module 7 in fig. 1 is fixedly connected with the second rotating shaft seat 11 in fig. 3 through a shaft seat 17 in fig. 4, and the servo motor 15 controls the relative movement of the arc guide rail 12 and the second rotating shaft seat 11 through a loose rope.
As shown in fig. 2, the end effector 8 may be a minimally invasive surgical instrument such as a laser scalpel, and the active end thereof is located on the symmetrical plane of the fixed platform 2 and the movable platform 6, as shown in fig. 5, i.e. a platform operation plane 18, and the active point on the plane is a remote motion center 19 of the platform.
The working process of the minimally invasive surgery system comprises the steps that the movable platform 6 is placed at an initial position set manually, the part of a patient to be operated is conveyed into a space between the fixed platform 2 and the movable platform 6, the motor module 7 drives the movable platform 6 to move, the operation plane 18 is made to reach the part of the patient to be operated, the tail end operation point of the tail end manipulator 8 is made to coincide with the part of the patient to be operated, and minimally invasive surgery is conducted. This is a dynamic control process, with all movements being accomplished by the control system.
The invention can realize the technical effects that:
1. the RCM platform for minimally invasive surgery only realizes that the tail end manipulator rotates at any fixed point in a certain space range by the structure of the platform;
2. the structure of the invention is symmetrical and isotropic, the structure is simpler, and the following motion is avoided, thus being convenient for motion control and trajectory planning;
3. the circular arc guide rail used by the invention increases the integral rigidity of the mechanism to a certain extent, the movement is smoother, and no singular point exists in the mechanism movement process through the selection of the structure size.
Claims (5)
1. An RCM platform applied to minimally invasive surgery is characterized in that: the three-phase motor comprises a rack (1), a fixed platform (2) and three branches with the same structure between the movable platform and the fixed platform, wherein each branch comprises a motor module (7), an arc guide rail (4) and two Hooke hinges respectively connected with the movable platform and the fixed platform; the two Hooke joints are connected through an arc guide rail (4), and a motor module (7) is installed on the arc guide rail (4).
2. The RCM platform applied to minimally invasive surgery according to claim 1, wherein: the movable platform and the fixed platform have the same size, and the vertical distances from the center of the platform to the rotating shaft connected with the branches are the same.
3. The RCM platform applied to minimally invasive surgery according to claim 1, wherein: the three branches are symmetrically distributed in space, the axis of a rotating shaft of a hook hinge connected with the fixed platform in each branch is positioned in the plane of the fixed platform, and the corresponding axes in the three branches are intersected to form a regular triangle;
the axis of the rotating shaft of the hook joint connected with the movable platform in each branch is positioned in the plane where the fixed platform is positioned, and the corresponding axes in the three branches intersect to form a regular triangle.
4. The RCM platform applied to minimally invasive surgery according to claim 1, wherein: the rotating shafts of the Hooke's joints respectively connected with the arc guide rails in each branch are intersected at the circle centers of the arc guide rails.
5. The RCM platform applied to minimally invasive surgery according to claim 1, wherein: the motor module in each branch contains servo motor, winder, cable wire, and motor module links firmly near the hooke hinge at fixed platform, and the cable wire is connected the both ends of circular arc guide rail, tightens up the removal that the cable wire drove the circular arc guide rail through the rotation of motor control winder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111669111.8A CN114288027A (en) | 2021-12-31 | 2021-12-31 | RCM platform applied to minimally invasive surgery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111669111.8A CN114288027A (en) | 2021-12-31 | 2021-12-31 | RCM platform applied to minimally invasive surgery |
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| Publication Number | Publication Date |
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| CN114288027A true CN114288027A (en) | 2022-04-08 |
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| CN202111669111.8A Pending CN114288027A (en) | 2021-12-31 | 2021-12-31 | RCM platform applied to minimally invasive surgery |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101700655A (en) * | 2009-11-03 | 2010-05-05 | 天津理工大学 | Three-dimensional transformational parallel robot mechanism with large workspace |
| CN102962837A (en) * | 2012-11-09 | 2013-03-13 | 燕山大学 | Easy-to-control symmetric parallel mechanism with two rotating pairs and one moving pair |
| CN104827463A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair |
| CN106725855A (en) * | 2016-06-08 | 2017-05-31 | 中国矿业大学 | A kind of series-parallel connection six degree of freedom minimally invasive surgical operation robot |
| CN207606839U (en) * | 2017-12-26 | 2018-07-13 | 燕山大学 | A kind of slide block type multistage coupling parallel institution |
-
2021
- 2021-12-31 CN CN202111669111.8A patent/CN114288027A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101700655A (en) * | 2009-11-03 | 2010-05-05 | 天津理工大学 | Three-dimensional transformational parallel robot mechanism with large workspace |
| CN102962837A (en) * | 2012-11-09 | 2013-03-13 | 燕山大学 | Easy-to-control symmetric parallel mechanism with two rotating pairs and one moving pair |
| CN104827463A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair |
| CN106725855A (en) * | 2016-06-08 | 2017-05-31 | 中国矿业大学 | A kind of series-parallel connection six degree of freedom minimally invasive surgical operation robot |
| CN207606839U (en) * | 2017-12-26 | 2018-07-13 | 燕山大学 | A kind of slide block type multistage coupling parallel institution |
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