CN115122355B - Medical robot - Google Patents

Medical robot Download PDF

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Publication number
CN115122355B
CN115122355B CN202210893408.0A CN202210893408A CN115122355B CN 115122355 B CN115122355 B CN 115122355B CN 202210893408 A CN202210893408 A CN 202210893408A CN 115122355 B CN115122355 B CN 115122355B
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Prior art keywords
gear
motor
hole
pitching
main shaft
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CN202210893408.0A
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CN115122355A (en
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吕文尔
吴警
王少白
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Shanghai Zhuoxin Medical Technology Co ltd
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Shanghai Zhuoxin Medical Technology Co ltd
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Priority to CN202210893408.0A priority Critical patent/CN115122355B/en
Priority to PCT/CN2022/120916 priority patent/WO2023046077A1/en
Publication of CN115122355A publication Critical patent/CN115122355A/en
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Publication of CN115122355B publication Critical patent/CN115122355B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)

Abstract

The invention provides a medical robot, which comprises a single-arm mechanism, wherein the single-arm mechanism comprises a pitching adjusting mechanism and a swaying adjusting mechanism, the pitching adjusting mechanism comprises a pitching motor, a supporting frame, a rotating main shaft, a telescopic pull rod and a pitching frame, the pitching frame comprises a hinge part, the rotating main shaft is movably connected with the supporting frame, the telescopic pull rod is positioned in the rotating main shaft, one end of the telescopic pull rod is hinged with one end of the hinge part, the other end of the hinge part is hinged with one end of the rotating main shaft, the other end of the telescopic pull rod is connected with the pitching motor, the pitching motor is used for driving the telescopic pull rod to stretch and slide so as to realize the pitching motion of the hinge part, the swaying adjusting mechanism comprises a first gear, a second gear and a main rotating motor, the first gear is sleeved on the outer side of the rotating main shaft, the second gear is meshed with the first gear, and the main rotating motor is connected with the second gear and is used for driving the rotating main shaft to rotate so as to realize the swaying motion of the pitching frame. The rotation and pitching motion are realized by one rotation main shaft, so that the occupied space is small.

Description

Medical robot
Technical Field
The invention relates to the technical field of medical instruments, in particular to a medical robot.
Background
At present, a plurality of types of medical robots are also in the medical field, namely medical robots used in hospitals and clinics or assisted medical treatment, and the medical robots are intelligent service robots which can independently compile operation plans, determine action programs according to actual conditions and then change actions into movements of an operation mechanism. The Chinese patent of the invention with the publication number of CN111085990A discloses a human-computer cooperation medical robot, the bottom fixedly connected with fixed base of medical robot, the top fixedly connected with electric telescopic machanism of fixed base, the top sliding connection of electric telescopic machanism has electric telescopic link, the top fixedly connected with well accuse case of electric telescopic link, the front end fixedly connected with fixed rotary drum of electric telescopic link, the top of fixed rotary drum rotates and is connected with fixed rotating end, the quantity of fixed rotating end is two, and fixedly connected with response fixed arm between two fixed rotating ends, the bottom rotation of fixed rotating end is connected with movable rotating end, the right side fixedly connected with response movable arm of movable rotating end, the right-hand member fixedly connected with of response movable arm controls the arm, the rear end fixedly connected with left end response control arm of electric telescopic link, but this medical robot equipment occupies great volume. The current medical robot device is large in size, high in price and complex to use, and therefore, it is necessary to provide a novel medical robot to solve the above problems existing in the prior art.
Disclosure of Invention
The invention aims to provide a medical robot, which is realized by a rotary main shaft in a rotary motion and a pitching motion, so that the occupied space is small.
In order to achieve the above purpose, the medical robot comprises a single-arm mechanism, the single-arm mechanism comprises a pitching adjusting mechanism and a swaying adjusting mechanism, the pitching adjusting mechanism comprises a pitching motor, a supporting frame, a rotating main shaft, a telescopic pull rod and a pitching frame, the pitching frame comprises a hinging part, the rotating main shaft is movably connected with the supporting frame, the telescopic pull rod is located inside the rotating main shaft, one end of the telescopic pull rod is hinged with one end of the hinging part, the other end of the hinging part is hinged with one end of the rotating main shaft, the other end of the telescopic pull rod is connected with the pitching motor, the pitching motor is used for driving the telescopic pull rod to stretch and slide relative to the rotating main shaft so as to achieve pitching movement of the hinging part, the swaying adjusting mechanism comprises a first gear, a second gear and a main rotating motor, the first gear is sleeved on the outer side of the rotating main shaft, the second gear is meshed with the first gear, and the main rotating motor is connected with the second gear so as to drive the second gear to rotate so as to drive the first gear to rotate so as to drive the rotating main shaft to achieve swaying movement.
The medical robot has the beneficial effects that: on the one hand, the telescopic pull rod is located inside the rotary main shaft, the pitching motor is used for driving the telescopic pull rod to stretch and slide relative to the rotary main shaft so as to realize pitching movement of the hinge part, on the other hand, one end of the rotary main shaft is connected with a first gear, a second gear is meshed with the first gear, the second gear rotates to drive the first gear to rotate, and therefore the rotary main shaft is driven to rotate, deflection movement of the pitching frame is realized, and rotation movement and pitching movement are realized through one rotary main shaft, so that occupied space is small. And the motor can be placed at one end far away from the pitching frame, so that the operation is not hindered.
Optionally, the outer diameter of the first gear is larger than the outer diameter of the second gear.
Optionally, the support frame includes a first hole and a second hole, and the rotating spindle passes through the first hole and the second hole.
Optionally, a first bearing is disposed in the first hole, a second bearing is disposed in the second hole, and the rotating main shaft passes through the first bearing and the second bearing.
Optionally, the support frame includes a third hole and a fourth hole, through which the main rotating electrical machine passes.
Optionally, the pitching motor is a telescopic motor.
Optionally, one end of the hinge portion includes a first through hole penetrating through two opposite walls of the hinge portion and a first pin, one end of the telescopic pull rod is connected with the first pin, and the first pin is located in the first through hole.
Optionally, one end of the rotating main shaft comprises a first triangle, a second triangle and a connecting plate, the first triangle and the second triangle are oppositely arranged and are connected through the connecting plate, a fifth hole is formed in the connecting plate, the telescopic pull rod penetrates through the fifth hole, a sixth hole is formed in one end of the first triangle, a seventh hole is formed in one end of the second triangle, the other end of the hinge part comprises a second pin and a second through hole is formed in the other end of the second triangle, the second pin is located between the first triangle and the second triangle so that the sixth hole, the second through hole and the seventh hole are sequentially communicated, and the second pin is located in a channel communicated with the sixth hole, the second through hole and the seventh hole so that the hinge part is hinged with one end of the rotating main shaft.
Optionally, the medical robot further includes a cross sliding table, the cross sliding table includes a track mechanism, the track mechanism includes a first slider, a second slider, a first track and a second track, the first track with the second track is located the horizontal plane, the first track with the second track mutually perpendicular, the first slider with first track sliding connection, the first track with second slider fixed connection, the second slider with second track sliding connection is used for driving the first track is followed the second track slides.
Optionally, the cross sliding table further comprises a first screw mechanism, the first screw mechanism comprises a first motor, a first screw and a first nut, the first motor is connected with one end of the first screw, the first screw is in threaded connection with the first nut, the first slider is fixedly connected with the first nut, and the first motor is used for driving the first screw to rotate so as to drive the first slider to move along the first track.
Optionally, the cross sliding table further comprises a second screw mechanism, the second screw mechanism comprises a second motor, a second screw and a second nut, the second motor is connected with one end of the second screw, the second screw is in threaded connection with the second nut, the first slider is fixedly connected with the second nut, and the second motor is used for driving the second screw to rotate so as to drive the second slider to move along the second track.
Drawings
FIG. 1 is a schematic diagram of a medical robot in accordance with some embodiments of the present invention;
FIG. 2 is a cross-sectional view of a pitch adjustment mechanism in some embodiments of the invention;
fig. 3 is a schematic structural diagram of a cross sliding table according to some embodiments of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. 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. Unless otherwise defined, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and the like means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof without precluding other elements or items.
Fig. 1 is a schematic structural view of a medical robot according to some embodiments of the present invention. Referring to fig. 1, the medical robot comprises a single arm mechanism, the single arm mechanism comprises a pitching adjusting mechanism 1 and a yaw adjusting mechanism 2, the pitching adjusting mechanism comprises a pitching motor 11, a supporting frame 12, a rotating main shaft 13, a telescopic pull rod 14 and a pitching frame 15, the pitching frame 15 comprises a hinging portion 151, the rotating main shaft 13 is movably connected with the supporting frame 12, the telescopic pull rod 14 is located inside the rotating main shaft 13, the tail end of the telescopic pull rod 14 is hinged with the upper end of the hinging portion 151, the lower end of the hinging portion 151 is hinged with the tail end of the rotating main shaft 13, one end of the telescopic pull rod 14, which is far away from the hinging portion 151, is connected with the pitching motor 11, the pitching motor 11 is a telescopic motor for driving the telescopic pull rod 14 to stretch and slide relative to the rotating main shaft 13 so as to realize pitching motion of the hinging portion 151, the yaw adjusting mechanism 2 comprises a first gear 21, a second gear 22 and a main rotating motor 23, the first gear 21 is sleeved on the outer side of the hinging portion 13, which is far away from the hinging portion 13, the second gear 22 is connected with the second gear 22 so as to drive the main rotating main shaft 23 to rotate, and the main rotating frame 21 is meshed with the first gear 22.
The medical robot has the beneficial effects that: on the one hand, the telescopic pull rod is positioned in the rotary main shaft, the pitching motor is used for driving the telescopic pull rod to slide in a telescopic manner relative to the rotary main shaft so as to realize pitching movement of the hinge part, on the other hand, one end of the rotary main shaft is connected with a first gear, a second gear is meshed with the first gear, the second gear rotates to drive the first gear to rotate, so that the rotary main shaft is driven to rotate, and the pitching movement of the pitching frame is realized. And the motor can be placed at one end far away from the pitching frame, so that the operation is not hindered.
In some embodiments, the outer diameter of the first gear 21 is larger than the outer diameter of the second gear 22, and the outer diameters of the first gear 21 and the second gear 22 are different, so that the transmission is smaller, and the number of turns of the first gear 21 is smaller than the number of turns of the second gear 22 when the first gear 21 rotates, so that the first gear 21 rotates slower when the second gear 22 rotates, and the precision can be improved better.
Referring to fig. 1, the support frame 12 includes a first hole 121 and a second hole 122, and the rotation main shaft 13 passes through the first hole 121 and the second hole 122.
FIG. 2 is a cross-sectional view of a pitch adjustment mechanism in some embodiments of the invention. Referring to fig. 1 and 2, a first bearing 123 is disposed in the first hole 121, a second bearing 124 is disposed in the second hole 122, and the rotation main shaft 13 passes through the first bearing 123 and the second bearing 124.
Referring to fig. 1, the support frame 12 includes a third hole 231 and a fourth hole (not shown) through which the main rotating electric machine 23 passes, and the support frame 12 is capable of fixing and supporting the main rotating electric machine 23.
Referring to fig. 1 and 2, one end of the hinge 151 includes a first through hole 1511 penetrating opposite walls of the hinge 151 and a first pin 1512, and the end of the telescopic link 14 is connected to the first pin 1512, and the first pin 1512 is located in the first through hole 1511.
Referring to fig. 1, one end of the rotary main shaft 13 includes a first triangle 131, a second triangle 132, and a connecting plate 133, the first triangle 131 and the second triangle 132 are disposed opposite to each other and are connected by the connecting plate 133, a fifth hole 1331 is formed in the connecting plate 133, the telescopic rod 14 passes through the fifth hole 1331, a sixth hole (not shown in the drawing) is formed at one end of the first triangle 131, a seventh hole (not shown in the drawing) is formed at one end of the second triangle 132, a second pin 1513 is disposed at the other end of the hinge portion 151 and is provided with a second through hole 1514, the second pin 1513 is disposed between the first triangle 131 and the second triangle 132 so that the sixth hole (not shown in the drawing), the second through hole 1514, and the seventh hole (not shown in the drawing) are sequentially communicated, and the second pin 1513 is disposed in the sixth hole (not shown in the drawing), the second through hole 1514, and the seventh through hole 1514 are sequentially communicated with the hinge portion (not shown) so that the hinge portion 151 is rotatably connected to the one end of the main shaft 13.
Referring to fig. 1, the pitching frame 15 further includes an operation portion 152 and a knob 153, wherein a hole is formed in the operation portion 152, a hole is formed in the hinge portion 151, and the knob 153 is screwed into the hole formed in the operation portion 152 and the hole formed in the hinge portion 151, so that the operation portion 152 and the hinge portion 151 are screwed.
Fig. 3 is a schematic structural diagram of a cross sliding table according to some embodiments of the present invention. The medical robot further comprises a cross sliding table, and the cross sliding table comprises a rail mechanism. Referring to fig. 3, the track mechanism 3 includes a first slider 31, a second slider 32, a first track 33 and a second track 34, where the first track 33 and the second track 34 are located on a horizontal plane, the first track 33 and the second track 34 are perpendicular to each other, the first slider 31 is slidably connected with the first track 33, the first track 33 is fixedly connected with the second slider 32, and the second slider 32 is slidably connected with the second track 34, and is used for driving the first track 33 to slide along the second track 34.
The cross sliding table further comprises a first screw rod mechanism. Referring to fig. 3, the first screw mechanism 4 includes a first motor 41, a first screw 42, and a first nut 43, where the first motor 41 is connected to one end of the first screw 42, the first screw 42 is screwed to the first nut 43, the first slider 31 is fixedly connected to the first nut 43, and the first motor 41 is used to drive the first screw 42 to rotate so as to drive the first slider 31 to move along the first track 33.
The cross sliding table further comprises a second screw rod mechanism, and the second screw rod mechanism comprises a second motor, a second screw rod and a second nut. Referring to fig. 3, a second motor 51 is connected to one end of a second screw rod 52, the second screw rod 52 is in threaded connection with a second nut (not shown), the first slider 31 is fixedly connected to the second nut (not shown), and the second motor 51 is used for driving the second screw rod 52 to rotate so as to drive the second slider 32 to move along the second track 34.
The medical robot comprises a cross sliding table and a single-arm mechanism, wherein the cross sliding table comprises a track mechanism, a first screw mechanism and a second screw mechanism, the single-arm mechanism can be driven to move in front and back and left and right degrees of freedom, the single-arm mechanism comprises a pitching adjusting mechanism and a swaying adjusting mechanism, and a pitching frame of the single-arm mechanism can be driven to move in pitching and swaying in 2 degrees of freedom, so that the medical robot can realize the movement in front and back, left and right degrees of freedom, pitching and swaying in 4 degrees of freedom. Pitch and yaw movements are transmitted through one rotating spindle, thus occupying little space. And the motor can be placed at one end far away from the pitching frame, so that the operation is not hindered.
While embodiments of the present invention have been described in detail hereinabove, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. It is to be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the following claims. Moreover, the invention described herein is capable of other embodiments and of being practiced or of being carried out in various ways.

Claims (11)

1. The single-arm mechanism comprises a pitching adjusting mechanism and a swaying adjusting mechanism, wherein the pitching adjusting mechanism comprises a pitching motor, a supporting frame, a rotating main shaft, a telescopic pull rod and a pitching frame, the pitching frame comprises a hinging part, the rotating main shaft is movably connected with the supporting frame, the telescopic pull rod is positioned in the rotating main shaft, one end of the telescopic pull rod is hinged with one end of the hinging part, the other end of the hinging part is hinged with one end of the rotating main shaft, the other end of the telescopic pull rod is connected with the pitching motor, the pitching motor is used for driving the telescopic pull rod to stretch and slide relative to the rotating main shaft so as to realize pitching movement of the hinging part, the swaying adjusting mechanism comprises a first gear, a second gear and a main rotating motor, the first gear is sleeved on the outer side of the rotating main shaft, the second gear is meshed with the first gear, and the main rotating motor is connected with the second gear so as to drive the second gear to rotate so as to drive the first gear to rotate so as to drive the rotating main shaft to realize swaying movement of the rotating frame; the outer diameter of the first gear is larger than that of the second gear, the outer diameters of the first gear and the second gear are different, so that transmission is smaller, and the number of turns of the first gear is smaller than that of turns of the second gear when the first gear rotates, so that the first gear rotates slowly when the second gear rotates; the medical robot further comprises a cross sliding table.
2. The medical robot of claim 1, wherein an outer diameter of the first gear is greater than an outer diameter of the second gear.
3. The medical robot of claim 1, wherein the support frame includes a first aperture and a second aperture, the rotational spindle passing through the first aperture and the second aperture.
4. A medical robot according to claim 3, wherein a first bearing is provided in the first bore and a second bearing is provided in the second bore, the rotation spindle passing through the first bearing and the second bearing.
5. The medical robot of claim 1, wherein the support frame includes a third aperture and a fourth aperture, the main rotating motor passing through the third aperture and the fourth aperture.
6. The medical robot of claim 1, wherein the pitch motor is a telescoping motor.
7. The medical robot of claim 1, wherein one end of the hinge includes a first through hole extending through opposite walls of the hinge and a first pin, and wherein one end of the telescoping rod is connected to the first pin, and wherein the first pin is positioned within the first through hole.
8. The medical robot according to claim 7, wherein one end of the rotating main shaft comprises a first triangle, a second triangle and a connecting plate, the first triangle and the second triangle are oppositely arranged and are connected through the connecting plate, a fifth hole is formed in the connecting plate, the telescopic pull rod penetrates through the fifth hole, a sixth hole is formed in one end of the first triangle, a seventh hole is formed in one end of the second triangle, a second pin is arranged at the other end of the hinge part, the second pin is arranged between the first triangle and the second triangle, so that the sixth hole, the second through hole and the seventh hole are sequentially communicated, and the second pin is arranged in a channel in which the sixth hole, the second through hole and the seventh hole are communicated, so that the hinge part is hinged with one end of the rotating main shaft.
9. The medical robot of claim 1, wherein the cross slide comprises a rail mechanism, the rail mechanism comprises a first slider, a second slider, a first rail and a second rail, the first rail and the second rail are positioned on a horizontal plane, the first rail and the second rail are mutually perpendicular, the first slider is in sliding connection with the first rail, the first rail is fixedly connected with the second slider, and the second slider is in sliding connection with the second rail and is used for driving the first rail to slide along the second rail.
10. The medical robot of claim 9, wherein the cross slide table further comprises a first screw mechanism, the first screw mechanism comprises a first motor, a first screw and a first nut, the first motor is connected with one end of the first screw, the first screw is in threaded connection with the first nut, the first slider is fixedly connected with the first nut, and the first motor is used for driving the first screw to rotate so as to drive the first slider to move along the first track.
11. The medical robot of claim 10, wherein the cross slide table further comprises a second screw mechanism, the second screw mechanism comprises a second motor, a second screw and a second nut, the second motor is connected with one end of the second screw, the second screw is in threaded connection with the second nut, the first slider is fixedly connected with the second nut, and the second motor is used for driving the second screw to rotate so as to drive the second slider to move along the second track.
CN202210893408.0A 2021-09-23 2022-07-27 Medical robot Active CN115122355B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202210893408.0A CN115122355B (en) 2022-07-27 2022-07-27 Medical robot
PCT/CN2022/120916 WO2023046077A1 (en) 2021-09-23 2022-09-23 Medical robot, surgical auxiliary positioning system and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210893408.0A CN115122355B (en) 2022-07-27 2022-07-27 Medical robot

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CN115122355B true CN115122355B (en) 2023-05-23

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CN115553892A (en) * 2022-10-24 2023-01-03 杭州华匠医学机器人有限公司 Womb lifting robot and linkage control system and control method thereof
CN117442238A (en) * 2023-12-25 2024-01-26 中国科学院自动化研究所 Portable ultrasonic robot scanning system

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Publication number Priority date Publication date Assignee Title
US5111709A (en) * 1989-09-27 1992-05-12 Fanuc, Ltd. Industrial robot with a telescopic horizontal arm
JPH1094124A (en) * 1996-09-12 1998-04-10 Chubu Electric Power Co Inc Insulated operation rod and indirect hot-line work apparatus
CN107789055A (en) * 2017-12-11 2018-03-13 成都创客之家科技有限公司 A kind of Medical surgical machinery arm configuration
CN108742848A (en) * 2018-06-19 2018-11-06 深圳铭锐医疗自动化有限公司 A kind of micro-wound operation robot device
CN211590183U (en) * 2019-12-31 2020-09-29 中国科学院沈阳自动化研究所 Under-actuated joint and pecking device of imitated woodpecker

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