CN116585041A - Rotating mechanism and minimally invasive surgery robot - Google Patents
Rotating mechanism and minimally invasive surgery robot Download PDFInfo
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- CN116585041A CN116585041A CN202310644765.8A CN202310644765A CN116585041A CN 116585041 A CN116585041 A CN 116585041A CN 202310644765 A CN202310644765 A CN 202310644765A CN 116585041 A CN116585041 A CN 116585041A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 105
- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 16
- 229910052751 metal Inorganic materials 0.000 claims abstract description 74
- 239000002184 metal Substances 0.000 claims abstract description 73
- 230000009471 action Effects 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000009467 reduction Effects 0.000 abstract description 3
- 238000001179 sorption measurement Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000005389 magnetism Effects 0.000 description 3
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241001330002 Bambuseae Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
Classifications
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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
- A61B34/35—Surgical robots for telesurgery
-
- 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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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
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- Manipulator (AREA)
Abstract
The application provides a rotating mechanism and a minimally invasive surgery robot thereof, comprising a shell and a rotating assembly, wherein the rotating assembly comprises a rotating shaft and at least one group of braking parts arranged on the rotating shaft, and each braking part comprises a stator and a metal part; the rotating shaft is rotatably connected with the shell, the stator is connected with the shell, the metal piece is connected with the rotating shaft and corresponds to the position of the stator in the axial direction of the rotating shaft; wherein, the stator is in under its outage state with the metalwork magnetic adsorption in order to brake the pivot, and at this moment, stator and metalwork are in the casing, make full use of the inner space of casing to metalwork corresponds along the axis direction position of pivot with the stator, so that metalwork stacks with the stator in vertical space, and the whole volume of stator and metalwork is less than the whole volume of reduction gear and stopper moreover, thereby has improved rotary mechanism's space utilization, has avoided rotary mechanism's whole occupation space great.
Description
Technical Field
The application relates to the technical field of rotating mechanisms, in particular to a rotating mechanism and a minimally invasive surgical robot thereof.
Background
Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, so that the operation difficulty is greatly increased, and actions such as fatigue, tremble and the like of a doctor in the long-time operation process can be amplified, which becomes a key factor for restricting the development of the minimally invasive surgery technology. With the development of robot technology, a new minimally invasive medical field technology, namely minimally invasive surgery robot technology, capable of overcoming the defects and inheriting the advantages, has been developed.
A common minimally invasive surgical robot consists of a physician console, a patient surgical platform, and a display device, where the surgeon operates an input device and passes the input to the patient surgical platform connected to a teleoperated surgical instrument. The patient operation platform comprises a mechanical arm and an operation instrument connected with the tail end, wherein the mechanical arm comprises a rotating assembly and a telecentric mechanism connected with the rotating assembly.
The rotation assembly is required to be convenient for drive telecentric mechanism rotation regulation, and in operation process, rotation assembly locks in order to prevent telecentric mechanism rotation, and current rotary mechanism adopts the structure that the reduction gear combines the stopper in order to improve the braking force of locking, but this structure has following drawback: 1. due to the characteristics and installation limitations, gaps exist between the speed reducer and the brake, the braking performance is affected, and in the actual use process, the situation that the locking force of the rotating mechanism is insufficient to shake exists in the operation process after braking; 2. this way of connection results in a larger overall diameter of the rotary mechanism, making the overall machine body cumbersome, and aggravating the rotational difficulty of the rotary mechanism.
Disclosure of Invention
The application aims to provide a rotating mechanism and a minimally invasive surgical robot thereof, which are used for solving the problems in the background art.
In order to achieve the above purpose, the present application provides the following technical solutions:
a rotary mechanism and a minimally invasive surgical robot thereof, comprising:
a housing;
the rotating assembly comprises a rotating shaft and at least one group of braking parts arranged on the rotating shaft, and the braking parts comprise a stator and a metal part;
the rotating shaft is rotatably connected to the shell, the stator is connected to the shell, and the metal piece is connected to the rotating shaft and corresponds to the stator in the axial direction of the rotating shaft;
the stator is magnetically attracted with the metal piece in a power-off state so as to brake the rotating shaft.
Optionally, the braking piece has the multiunit, multiunit the braking piece is arranged along the axis direction interval of pivot.
Optionally, the rotating shaft is arranged on the shell in a penetrating way, wherein the stator and the metal piece of one group of braking pieces are positioned in the shell;
the stator is an annular stator, and the metal piece is an annular metal piece and is positioned on one side of the stator along the axial direction of the rotating shaft.
Optionally, the metal piece is connected to the rotating shaft through a connecting plate; the connecting plate is integrally connected with the rotating shaft, or the connecting plate is connected with the rotating shaft in a split mode.
Optionally, the outer side wall of the stator and the outer side wall of the metal piece are arranged in a flush manner, and the thickness of the stator is greater than that of the metal piece.
Optionally, a support bearing is arranged at one end of the shell, an inner ring of the support bearing is fixedly connected with the rotating shaft, and an outer ring of the support bearing is fixedly connected with the shell.
Optionally, the minimally invasive surgery robot comprises a telecentric mechanism and the rotating mechanism according to any one of claims 1 to 6, wherein the telecentric mechanism is connected to the rotating mechanism and rotates under the rotation action of the rotating mechanism;
the telecentric mechanism is provided with a first joint and a second joint, the first joint is connected with the rotating mechanism, and the second joint is connected with the first joint in a swinging way; the minimally invasive surgery robot further comprises a lifting arm, and the rotating mechanism is connected to the lifting arm, moves in the up-down direction under the lifting action of the lifting arm and drives the telecentric mechanism to move; the minimally invasive surgery robot further comprises a base and an adjusting mechanism, wherein the adjusting mechanism is connected to the base, and the lifting arm is connected to the adjusting mechanism and driven by the adjusting mechanism to move along the length direction of the adjusting mechanism.
Optionally, the rotating mechanism further comprises a power piece, the power piece drives the rotating shaft to rotate electrically relative to the shell, and the rotating shaft drives the telecentric mechanism to rotate;
or, the telecentric mechanism is used as a holding piece, and the holding piece is pushed to drive the rotating shaft to manually rotate relative to the shell.
Optionally, the shell is installed in the lifting arm, and from top to bottom block in the lifting arm section of thick bamboo.
Optionally, the lateral wall of casing is protruding to be equipped with the installation arm, the bottom of installation arm is equipped with first block portion, the lifting arm section of thick bamboo is equipped with the second block portion, the second block portion with first block portion looks block.
Compared with the prior art, the application has the beneficial effects that:
the application provides a rotating mechanism and a minimally invasive surgery robot thereof, wherein the rotating assembly comprises a rotating shaft and at least one group of braking parts arranged on the rotating shaft, the braking force of the rotating assembly is increased by the plurality of groups of braking parts, and the braking parts comprise a stator and a metal part; the rotating shaft is rotatably connected with the shell, the stator is connected with the shell, the metal piece is connected with the rotating shaft and corresponds to the position of the stator in the axial direction of the rotating shaft; wherein, the stator is in under the outage state with the metalwork magnetic adsorption in order to brake the pivot, at this moment, stator and metalwork are in the casing, make full use of the inner space of casing, and metalwork corresponds along the axis direction position of pivot with the stator, in order that metalwork stacks with the stator in vertical space, moreover the whole volume of stator and metalwork is less than the whole volume of reduction gear and stopper, thereby the space utilization of rotary mechanism has been improved, the whole occupation space of rotary mechanism has been avoided great, so that the brake piece does not influence the whole diameter of rotary assembly when having increased rotary assembly's braking force, the structure is small and exquisite.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is evident that the figures in the following description are only some embodiments of the application, from which other figures can be obtained without inventive effort for a person skilled in the art.
For a more complete understanding of the present application and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings. Wherein like reference numerals refer to like parts throughout the following description.
Fig. 1 is a schematic view of a rotating mechanism according to an embodiment of the present application.
Fig. 2 is an exploded view of a rotary mechanism according to an embodiment of the present application.
Fig. 3 is a cross-sectional view of a rotary mechanism provided in an embodiment of the present application.
Fig. 4 is a schematic view of a braking member of a rotating mechanism according to an embodiment of the present application.
Fig. 5 is a schematic diagram of a rotating shaft of a rotating mechanism according to an embodiment of the application.
Fig. 6 is a schematic view of a sleeve of a rotary mechanism according to an embodiment of the present application.
Fig. 7 is a schematic view of another embodiment providing a minimally invasive surgical robot.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.
Referring to fig. 1 to 7, an embodiment of the present application is applied to a rotary mechanism 100, wherein the rotary mechanism 100 includes a housing 10 and a rotary assembly 20, and the rotary assembly 20 is accommodated in the housing 10.
The casing 10 is used as a supporting component of the rotating mechanism 100 and is used for supporting the rotating assembly 20, the casing 10 comprises a sleeve 11 and a bottom plate 12, the sleeve 11 is connected with the bottom plate 12, the bottom plate 12 and the sleeve 11 enclose to form an accommodating space, and part of the rotating assembly 20 is accommodated in the accommodating space. Optionally, the housing 10 and the partial rotation assembly 20 are both annular in shape.
The rotating assembly 20 includes a rotating shaft 21 and at least one set of braking members 22 disposed on the rotating shaft 21, the braking members 22 including a stator 2211 and a metal member 222; a stator 221 metal piece 222, the rotating shaft 21 is rotatably connected to the housing 10, and the stator 221 is connected to the housing 10; the metal piece 222 is connected to the rotating shaft 21 and corresponds to the stator 221 along the axial direction of the rotating shaft 21, wherein the stator 2211 is magnetically attracted with the metal piece 222 in a power-off state to brake the rotating shaft 21, the metal piece 222 and the stator 221 are stacked up and down, a gap can exist between the metal piece 222 and the stator 221, and when the rotating shaft 21 is in a rotating state, a gap exists between the metal piece 222 and the stator 221, and the rotation of the rotating shaft 21 is not affected.
At this time, the rotating shaft 21 rotatably penetrates through the casing 10, the stator 221 is connected to the casing 10, the metal piece 222 penetrates through the rotating shaft 21 and corresponds to the position of the stator 221 along the axis direction of the rotating shaft 21, both the stator 221 and the metal piece 222 are located in the casing, the internal space of the casing 10 is fully utilized, the metal piece 222 corresponds to the position of the stator 221 along the axis direction of the rotating shaft 21, so that the metal piece 222 and the stator 221 are stacked in the longitudinal space, the overall volume of the stator 221 and the metal piece 222 is smaller than the overall volume of the speed reducer and the brake, the space utilization rate of the rotating mechanism 100 is improved, the overall occupied space of the rotating mechanism 100 is avoided to be larger, the brake piece 22 does not affect the overall diameter of the rotating assembly 20 while the braking force of the rotating assembly 20 is increased, and the structure is small. Optionally, the metallic element 222 is an armature.
The brake members 22 have a plurality of groups, the brake members 22 are arranged at intervals along the axial direction of the rotating shaft 21, at this time, the braking effect of the rotating shaft 21 is increased by arranging the brake members 22 so as to reduce the braking time of the brake members 22 on the rotating shaft 21, wherein the brake members 22 have two groups, two groups of brake members 22 are respectively arranged at two ends of the rotating shaft 21, one brake member 22 is arranged at the upper end of the rotating shaft 21, the other brake member 22 is arranged at the lower end of the rotating shaft 21, and at this time, the brake members 22 increase the braking force of the rotating assembly.
The stator 221 is connected with an external power supply through an electric wire and is provided with a button, the button is arranged on the outer wall of the mechanical arm, when the mechanical arm is held during operation, the button is pressed by a thumb, at the moment, the stator 221 is in an electrified state, the stator 221 and the metal piece 222 do not have magnetism under the electrified state, no magnetic action is carried out between the stator 221 and the metal piece 222, the metal piece 222 rotates along with the rotation of the rotating shaft 21, the metal piece 222 is in a rotating state relative to the stator 221, and the rotating shaft 21 is driven to rotate so as to facilitate the rotation of the rotating shaft 21 relative to the shell 10, and therefore the position of the rotating shaft 21 relative to the shell 10 is adjusted.
After the button is released, the motor is in a power-off state, when the stator 221 is in the power-off state, the stator 221 is magnetically attracted to the metal piece 222, the magnetic acting force between the stator 221 and the metal piece 222 serves as a drag force to brake the rotating shaft 21, at this time, the stator 221 and the metal piece 222 are mutually dragged under the magnetic acting force to limit the rotation of the rotating shaft 21, and the rotating shaft 21 is braked under the drag action between the metal piece 222 and the stator 221, so that the position limitation is received. The rotating shaft 21 is arranged on the shell 10 in a penetrating way, wherein a stator 221 and a metal piece 222 of a group of braking pieces 22 are positioned in the shell 10; the stator 221 is a ring stator; the metal piece 222 is an annular metal piece, and is located at one side of the stator along the axial direction of the rotating shaft 21, the metal piece 222 is a stator 221.
At this time, the rotating shaft 21 is disposed on the housing 10, wherein the stator 221 and the metal piece 222 of the group of brake pieces 22 are located in the stator 221 and the metal piece 222 of the housing 10; the inner space of the casing 10 is fully utilized, so that the longitudinal space of the rotating shaft 21 relative to the stator 221 and the metal piece 222 is reduced, the whole occupied space of the rotating mechanism 100 is avoided from being large, the braking force of the rotating assembly 20 is increased by the braking piece 22, the whole diameter of the rotating assembly 20 is not influenced, and the structure is small.
The stator 221 is a ring stator; the metal piece 222 is an annular metal piece, the stator 221 and the metal piece 222 are located on the same axis with the rotating shaft 21, when the metal piece 222 is arranged above the stator 221, the lower surface of the metal piece 222 faces to the upper surface of the stator 221, or when the metal piece 222 is arranged below the stator 221, the upper surface of the metal piece 222 faces to the lower surface of the stator 221, wherein a gap is reserved between the stator 221 and the metal piece 222, and the lower surface of the stator 221 is prevented from being contacted with the upper surface of the metal piece 222, so that the rotation of the metal piece 222 is prevented from being influenced.
The stator 221 and the metal piece 222 are connected to the rotating shaft 21 through the connecting plate 23, and at this time, the stator 221 and the metal piece 222 are connected to the rotating shaft 21 through the connecting plate 23; the connecting plate 23 is connected to the bottom plate 12 of the casing 10, and makes full use of the internal space of the casing 10, so that the longitudinal space of the rotating shaft 21 relative to the stator 221 and the metal piece 222 is reduced, the whole occupation space of the rotating mechanism 100 is prevented from being large, the rotating shaft 21 has a hollow structure, the weight of the rotating shaft 21 is reduced, and the rotating smoothness of the rotating shaft 21 is improved.
The connection plate 23 is integrally connected to the rotation shaft 21, or the connection plate 23 is separately connected to the rotation shaft 21. When the connecting plate 23 is integrally connected with the rotating shaft 21, the connecting plate 23 and the rotating shaft 21 are integrally formed, the connecting plate 23 is detachably connected with the rotating shaft 21 through screws, and the connecting plate 23 is detachably connected with the rotating shaft 21.
The connection plate 23 comprises a plurality of forms, illustrated here by way of example as form one: the connecting plate 23 is fixed in the non-both ends position area of pivot 21, be equipped with corresponding protruding annular platform 211 on the pivot 21, the whole ring that is of connecting plate 23, the inner circle diameter is adapted to the pivot 21 diameter, connecting plate 23 inner circle edge is equipped with the concave station 231 that agrees with protruding annular platform 211, set up corresponding screw on connecting plate 23 and the pivot 21, connecting plate 23 and pivot 21 pass through protruding annular platform 211 and concave station 231 contact and threaded connection, set up the screw on the ring of connecting plate 23, connecting plate 23 and metalwork 222 are fixed through the screw connection that corresponds.
Morphology II: the connecting plate 23 is fixed in the top position of the rotating shaft 21, the limiting step 212 and the axially distributed protruding pieces 213 are arranged on the rotating shaft 21, the connecting plate 23 comprises a sleeve 232 and a connecting ring 233 which is integrally arranged with the sleeve 232, the sleeve 232 is sleeved on the rotating shaft 21 and limited by the limiting step 212, a groove 2321 corresponding to the protruding pieces 213 is arranged on the inner wall of the sleeve 232, when the sleeve 232 is sleeved with the rotating shaft 21, the protruding pieces 213 are arranged in the groove 2321, a plurality of screw holes are arranged on the connecting ring 233, the connecting ring 233 is fixedly connected with the metal piece 222 through the corresponding screw holes, and when the rotating shaft 21 rotates, force transmission is facilitated due to the arrangement of the limiting step 212, the protruding pieces 213 and the groove 2321, so that the connecting plate 23 rotates synchronously with the rotating shaft 21.
The outer side wall of the stator 221 is arranged flush with the outer side wall of the metal piece 222; the thickness of stator 221 is greater than the thickness of metalwork 222, and at this moment, the parallel and level arrangement between the lateral wall of stator 221 and the lateral wall of metalwork 222, and the lateral wall of metalwork 222 is less than the internal diameter of sleeve 11 of casing 10, has avoided the lateral wall of metalwork 222 to contact with the inside wall of sleeve 11 of casing 10, has avoided the rotatory smoothness of the pivot 21 that has connected metalwork 222, and the thickness of stator 221 is greater than the thickness of metalwork 222, so that the magnetism when stator 221 outage state is greater than the magnetism of metalwork 222, thereby through stator 221 braking metalwork 222, and braking pivot 21.
One end of the shell 10 is provided with a support bearing 211, an inner ring of the support bearing 221 is fixedly connected with the rotating shaft 21, and an outer ring of the support bearing 221 is fixedly connected with the shell 10.
At this time, the support bearing 211 is fixedly connected with the rotating shaft 21 at the inner ring of the support bearing 211 with respect to the upper side of the housing 10, the outer ring of the support bearing 211 is fixedly connected with the housing 10 to increase the smoothness of rotation of the rotating shaft 21 through the support bearing 211, the support bearing 211 is positioned above the housing 10 and contacts the upper surface of the housing 10, the support bearing 211 is fixed with the housing 10 by bolts, or the support bearing 211 is fixed with the housing 10 by screws.
The rotating mechanism 100 further comprises a power part, wherein the power part is arranged on one side of the rotating shaft 21 and drives the rotating shaft 21 to electrically rotate relative to the shell 10, and the rotating shaft 21 drives the telecentric mechanism 210 to rotate; at this time, the power piece is disposed on the upper side or the lower side of the rotating shaft 21, when the power piece is disposed on the upper side of the rotating shaft 21, the fixed end of the power piece is connected to the upper surface of the housing 10, the output end of the power piece is connected to the upper surface of the rotating shaft 21 and drives the rotating shaft 21 to rotate along the axis of the rotating shaft 21, by electrically rotating the rotating shaft 21, when the power piece is disposed on the lower side of the rotating shaft 21, the fixed end of the power piece is connected to the lower surface of the housing 10, the output end of the power piece is connected to the lower surface of the rotating shaft 21 and drives the rotating shaft 21 to rotate along the axis of the rotating shaft 21, and the power piece can be an electric motor.
Alternatively, the telecentric mechanism 210 is used as a grip, and the grip is pushed to drive the rotation shaft 21 to manually rotate relative to the housing 10.
In another embodiment, a minimally invasive surgical robot 200, the minimally invasive surgical robot 200 includes a telecentric mechanism 210 and a rotating mechanism 100, wherein the telecentric mechanism 210 is connected to the rotating mechanism 100 and rotates under the rotation action of the rotating mechanism 100; at this time, the telecentric mechanism 210 is connected to the rotating shaft 21 of the rotating mechanism 100, and the telecentric mechanism 210 is driven to rotate by the rotation, so that the telecentric mechanism 210 is driven by the rotating mechanism 100 to rotate along the axial direction of the rotating shaft 21 of the rotating mechanism 100, so as to adjust the position of the telecentric mechanism 210 relative to the rotating mechanism 100, thereby being convenient for the use of the telecentric mechanism 210 in multiple directions.
The telecentric mechanism 210 is provided with a first joint and a second joint, the first joint is connected to the rotating mechanism 100, the second joint is swingably connected to the first joint, the second joint is connected to the first joint through a hinge, and the second joint swings along the axial direction of the joint between the second joint and the first joint, so as to adjust the position of the second joint relative to the first joint, so that surgery treatment can be performed on a patient in multiple directions, and the method is not limited herein.
The minimally invasive surgery robot 200 further comprises a lifting arm 220, and the rotating mechanism 100 is connected to the lifting arm 220, moves up and down under the lifting action of the lifting arm 220, and drives the telecentric mechanism 210 to move. Optionally, the lifting arm 220 is provided with a lifting seat, and optionally, the lifting arm 220 may be a screw type moving module and arranged along the Z-axis direction. The lifting seat is lifted along the Z-axis direction, and is not limited herein.
The housing 10 is mounted on the lifting arm 220 and is engaged with the lifting arm barrel 222 from top to bottom, the outer side wall of the housing 10 is convexly provided with the mounting arm 111, the bottom of the mounting arm 111 is provided with the first engaging portion 1111, the lifting arm barrel 2222 is provided with the second engaging portion 221, and the second engaging portion 221 is engaged with the first engaging portion 1111, and optionally, the mounting arm 111 may be mounted on the lifting arm 220 by a screw, which is not limited herein.
The rotating mechanism 100 is connected to the lifting seat and lifts along with the lifting of the lifting seat, so that the telecentric mechanism 210 connected to the rotating mechanism 100 moves along the Z-axis direction under the driving of the lifting seat, so as to adjust the height direction of the telecentric mechanism 210, which is not limited herein.
The minimally invasive surgery robot 200 further includes a base 230 and an adjusting mechanism 240, the adjusting mechanism 240 is connected to the base 230, and the lifting arm 220 is connected to the adjusting mechanism 240 and moves along the length direction of the adjusting mechanism 240 under the driving of the adjusting mechanism 240, which is not limited herein.
Compared with the prior art, the application has the beneficial effects that:
the application provides a rotating mechanism 100 and a minimally invasive surgery robot 200 thereof, wherein a rotating assembly 20 comprises a rotating shaft 21 and at least one group of braking components 22 arranged on the rotating shaft 21, the braking components 22 increase the braking force of the rotating assembly, the braking components 22 comprise a stator 2211 and a metal component 222, the stator 221 is a metal component 222, the rotating shaft 21 is rotatably connected with a shell 10, and the stator 221 is connected with the shell 10; the metal piece 222 is connected to the rotating shaft 21 and corresponds to the stator 221 along the axial direction of the rotating shaft 21; the stator 221 is magnetically attracted to the metal piece 222 in the power-off state, the metal piece 222 and the stator 221 brake the rotating shaft 21, at this time, the stator 221 and the metal piece 222 are both in the housing, the inner space of the housing 10 is fully utilized, and the metal piece 222 and the stator 221 are spaced along the axial direction of the rotating shaft 21, so that the metal piece 222 and the stator 221 are stacked in the longitudinal space, and the overall volume of the stator 221 and the metal piece 222 is smaller than the overall volume of the speed reducer and the brake, thereby improving the space utilization rate of the rotating mechanism 100, avoiding the overall occupation space of the rotating mechanism 100 from being larger, so that the brake piece 22 does not affect the overall diameter of the rotating assembly 20 while increasing the braking force of the rotating assembly 20, and the structure is compact. .
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
In the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more features.
The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present application and the core ideas thereof; meanwhile, as those skilled in the art will vary in the specific embodiments and application scope according to the ideas of the present application, the present description should not be construed as limiting the present application in summary.
Claims (10)
1. A rotary mechanism, comprising:
a housing;
the rotating assembly comprises a rotating shaft and at least one group of braking parts arranged on the rotating shaft, and the braking parts comprise a stator and a metal part;
the rotating shaft is rotatably connected to the shell, the stator is connected to the shell, and the metal piece is connected to the rotating shaft and corresponds to the stator in the axial direction of the rotating shaft;
the stator is magnetically attracted with the metal piece in a power-off state so as to brake the rotating shaft.
2. A rotary mechanism according to claim 1, wherein said braking members have a plurality of groups, and wherein said plurality of groups of said braking members are arranged at intervals along the axial direction of said rotary shaft.
3. A rotary mechanism according to claim 1 or 2, wherein the shaft is arranged on the housing in a penetrating manner, and wherein the stator and the metal parts of the brake assembly are arranged in the housing;
the stator is an annular stator, and the metal piece is an annular metal piece and is positioned on one side of the stator along the axial direction of the rotating shaft.
4. A rotary mechanism according to claim 1, wherein the metal member is connected to the shaft via a connecting plate; the connecting plate is integrally connected with the rotating shaft, or the connecting plate is connected with the rotating shaft in a split mode.
5. A rotary mechanism according to claim 3, wherein the stator is arranged flush with the outer side wall of the metal member, and the stator has a thickness greater than the thickness of the metal member.
6. The rotary mechanism of claim 1, wherein one end of the housing is provided with a support bearing, an inner ring of the support bearing is fixedly connected with the rotating shaft, and an outer ring of the support bearing is fixedly connected with the housing.
7. A minimally invasive surgical robot, characterized in that it comprises a telecentric mechanism and the rotation mechanism according to any one of claims 1 to 6, the telecentric mechanism being connected to the rotation mechanism and rotating under the rotation action of the rotation mechanism;
the telecentric mechanism is provided with a first joint and a second joint, the first joint is connected with the rotating mechanism, and the second joint is connected with the first joint in a swinging way; the minimally invasive surgery robot further comprises a lifting arm, and the rotating mechanism is connected to the lifting arm, moves in the up-down direction under the lifting action of the lifting arm and drives the telecentric mechanism to move; the minimally invasive surgery robot further comprises a base and an adjusting mechanism, wherein the adjusting mechanism is connected to the base, and the lifting arm is connected to the adjusting mechanism and driven by the adjusting mechanism to move along the length direction of the adjusting mechanism.
8. The minimally invasive surgical robot of claim 7, wherein the rotating mechanism further comprises a power member, the power member drives the rotating shaft to electrically rotate relative to the housing, and the rotating shaft drives the telecentric mechanism to rotate;
or, the telecentric mechanism is used as a holding piece, and the holding piece is pushed to drive the rotating shaft to manually rotate relative to the shell.
9. The minimally invasive surgical robot of claim 7, wherein the housing is mounted to the lift arm and engages within the lift arm cartridge from top to bottom.
10. The minimally invasive surgical robot of claim 9, wherein the outer sidewall of the housing is provided with a mounting arm in a protruding manner, a first engagement portion is provided at the bottom of the mounting arm, and the lifting arm cylinder is provided with a second engagement portion engaged with the first engagement portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310644765.8A CN116585041A (en) | 2023-06-01 | 2023-06-01 | Rotating mechanism and minimally invasive surgery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310644765.8A CN116585041A (en) | 2023-06-01 | 2023-06-01 | Rotating mechanism and minimally invasive surgery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116585041A true CN116585041A (en) | 2023-08-15 |
Family
ID=87600709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310644765.8A Pending CN116585041A (en) | 2023-06-01 | 2023-06-01 | Rotating mechanism and minimally invasive surgery robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116585041A (en) |
-
2023
- 2023-06-01 CN CN202310644765.8A patent/CN116585041A/en active Pending
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