CN116687572A - Flexible body mechanical arm mechanism for nuclear magnetic compatible minimally invasive surgery robot - Google Patents
Flexible body mechanical arm mechanism for nuclear magnetic compatible minimally invasive surgery robot Download PDFInfo
- Publication number
- CN116687572A CN116687572A CN202310623743.3A CN202310623743A CN116687572A CN 116687572 A CN116687572 A CN 116687572A CN 202310623743 A CN202310623743 A CN 202310623743A CN 116687572 A CN116687572 A CN 116687572A
- Authority
- CN
- China
- Prior art keywords
- support arm
- straight line
- base
- support
- flexible body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 67
- 230000005291 magnetic effect Effects 0.000 title claims abstract description 11
- 238000002324 minimally invasive surgery Methods 0.000 title abstract description 15
- 239000013013 elastic material Substances 0.000 claims description 6
- 230000003902 lesion Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 4
- -1 for example Polymers 0.000 description 3
- 230000014509 gene expression Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 229930040373 Paraformaldehyde Natural products 0.000 description 2
- 239000004743 Polypropylene Substances 0.000 description 2
- 206010052428 Wound Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009472 formulation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 229920006324 polyoxymethylene Polymers 0.000 description 2
- 229920001155 polypropylene Polymers 0.000 description 2
- 229920000122 acrylonitrile butadiene styrene Polymers 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible body mechanical arm mechanism for a nuclear magnetic compatible minimally invasive surgery robot, which comprises a base arranged on the minimally invasive surgery robot; the support piece comprises a first support arm and a second support arm, a first end of the first support arm is mounted on the base, and an extension line of the side edge of the first end of the first support arm defines a first straight line; the first end of the plane where the second support arm is located is connected with the second end of the plane where the first support arm is located, and a second straight line is formed at the intersection; the driving end of the driving mechanism is arranged on the base, the driven end of the driving mechanism opposite to the base is connected with the second end of the second supporting arm, and the surgical instrument is arranged at the driven end limiting the operating line; the extension lines of the operation straight line, the first straight line and the second straight line are intersected at a convergence point near the operation position, so that when the driving mechanism drives the first supporting arm, the second supporting arm and the surgical instrument to move at multiple angles relative to the base, the spatial position of the convergence point is unchanged, and the operation straight line is deviated by taking the convergence point as a fulcrum.
Description
Technical Field
The invention relates to the technical field of surgical devices, in particular to a flexible body mechanical arm mechanism for a nuclear magnetic compatible minimally invasive surgical robot.
Background
With the development of medical technology, minimally invasive surgery has the advantages of small trauma and quick recovery, and is favored. The remote movement center (Remote Center of Motion) mechanism is an important component of minimally invasive surgery, and can realize a fixed point, namely an RCM point, which coincides with a lesion position or is positioned near the lesion position, so that the surgery operation on the lesion position can be accurately realized, the lesion position is excised, the safety and the accuracy of experiments are ensured, and the surgery operation under smaller wounds can be realized.
In the related art, a parallelogram mechanism is generally adopted as the far-end movement center mechanism, and RCM points are realized through two parallelogram mechanisms, but the structure of the parallelogram mechanism is complex, the occupied space is large, and the operation convenience is poor.
Disclosure of Invention
Aiming at the prior art, the invention provides the flexible mechanical arm mechanism for the nuclear magnetic compatible minimally invasive surgery robot, which is used for at least partially solving the technical problems, reducing the space size of the robot while improving the degree of freedom, and has the advantages of convenient operation and high flexibility.
The embodiment of the invention provides a flexible body mechanical arm mechanism for a nuclear magnetic compatible minimally invasive surgery robot, which comprises the following components:
a base configured to be mounted to a minimally invasive surgical robot;
a support made of an elastic material and comprising:
a first support arm, a first end of which is mounted on the base, an extension line of a side edge of the first end of which defines a first straight line L1; and
the first end of the plane of the second support arm is connected with the second end of the plane of the first support arm, and a second straight line L2 is formed at the intersection part; and
the driving end of the driving mechanism is arranged on the base, the driven end, opposite to the base, of the driving mechanism is connected with the second end of the second supporting arm, and a surgical instrument suitable for operating the surgical position of a surgical target is arranged on the driven end, and the driven end defines an operating straight line L3;
the extension lines of the operation straight line L3, the first straight line L1 and the second straight line L2 intersect at a convergence point O near the operation position, so that under the condition that the driving mechanism drives the first supporting arm, the second supporting arm and the operation instrument to move at multiple angles relative to the base, the spatial position of the convergence point O is unchanged, and the operation straight line is deviated by taking the convergence point O as a fulcrum.
According to an embodiment of the present disclosure, the first support arm and the second support arm have an included angle ranging from greater than 0 to less than or equal to 90 degrees.
According to an embodiment of the present disclosure, the support further comprises a plurality of corrugated plates, a plurality of the corrugated plates being mounted to the first support arm and the second support arm.
According to an embodiment of the present disclosure, the two side walls of each of the corrugated plates and the first support arm or the second support arm form a triangle, and an extension line of a third straight line intersecting the two side edges of each of the corrugated plates passes through the convergence point O.
According to an embodiment of the present disclosure, the plurality of corrugated plates near the first end of the first support arm are located inside the first support arm, and the plurality of corrugated plates near the second end of the first support arm are located outside the first support arm.
According to an embodiment of the present disclosure, the plurality of corrugated plates located at the second support arm are disposed outside the second support arm.
According to an embodiment of the present disclosure, the driving mechanism includes:
a drive assembly mounted to the base;
a connection assembly, a first end of the connection assembly being connected to the drive assembly; and
and the adapter is rotatably arranged at the second end of the connecting assembly, the second ends of the surgical instrument and the second supporting arm are connected to the adapter, and the connecting assembly moves relative to the base under the driving of the driving assembly and keeps the operation straight line to always pass through the convergence point O.
According to an embodiment of the present disclosure, the driving assembly includes:
a support mounted to the base;
two first bevel gears rotatably mounted to the support opposite to each other, the rotation axes of the two first bevel gears being located on a fourth straight line in common;
a second bevel gear engaged between the two first bevel gears, and the rotation axis of the second bevel gear is perpendicular to the fourth straight line;
when the two first bevel gears rotate in the same direction, the second bevel gear revolves around the fourth straight line relative to the support, and when the two first bevel gears rotate in opposite directions, the second bevel gear rotates around the rotation axis of the second bevel gear.
According to an embodiment of the present disclosure, the first end of the connection assembly is connected to the second bevel gear rotation shaft such that the length of the connection assembly is changed and the second end of the connection assembly can be rotated with respect to the adapter in a process that the first end of the connection assembly follows the revolution or rotation of the second bevel gear.
According to an embodiment of the present disclosure, the connection assembly includes:
a fixed connecting rod, a first end of which is mounted to the second bevel gear; and
and the first end of the telescopic connecting rod is slidably arranged at the second end of the fixed connecting rod, and the second end of the telescopic connecting rod is rotatably arranged at the adapter.
According to the flexible body mechanical arm mechanism for the nuclear magnetic compatible minimally invasive surgery robot, which is provided by the invention, the flexible body mechanical arm mechanism is arranged on the minimally invasive surgery robot through the base, and the driving mechanism drives the supporting piece made of elastic materials, so that under the condition that the first supporting arm, the second supporting arm and the surgical instrument move at multiple angles relative to the base, the spatial position of the convergence point O near the surgery position is unchanged when the extension lines of the operation straight line L3, the first straight line L1 and the second straight line L2 intersect, the operation straight line is deviated by taking the convergence point as a fulcrum, the larger posture transformation is realized, the spatial dimension of the robot is reduced while the degree of freedom is improved, the operation is convenient, and the flexibility is high.
Drawings
FIG. 1 is a schematic perspective view of a flexible body robotic arm mechanism according to an embodiment of the invention;
FIG. 2 is a schematic perspective view of a surgical instrument of a flexible body robotic arm mechanism according to an embodiment of the invention;
FIG. 3 is a schematic perspective view of a drive assembly of a flexible body robotic arm mechanism according to an embodiment of the invention;
FIG. 4 is a schematic perspective view of a connection assembly of a flexible body robotic arm mechanism according to an embodiment of the invention;
FIG. 5 is a front-to-back comparison of a flexible body manipulator mechanism under a first external force according to an embodiment of the present invention;
FIG. 6 is a front-to-back comparison of a flexible body manipulator mechanism under a second external force in accordance with an embodiment of the present invention; and
fig. 7 is a front-rear comparison diagram of a flexible body mechanical arm mechanism under the action of a third external force according to an embodiment of the present invention.
Reference numerals
1. A base;
2. a support;
21. a first support arm;
22. a second support arm;
23. corrugated plates;
3. a surgical instrument;
4. a driving mechanism;
41. a drive assembly;
411. a support;
412. a first bevel gear;
413. a second bevel gear;
414. a connecting shaft;
415. a driving member;
42. a connection assembly;
421. a fixed connecting rod;
422. a telescopic connecting rod;
423. an elbow;
43. an adapter.
Detailed Description
The present invention will be further described in detail below with reference to specific embodiments and with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent.
Descriptions of structural embodiments and methods of the present invention are disclosed herein. It is to be understood that there is no intention to limit the invention to the particular disclosed embodiments, but that the invention may be practiced using other features, elements, methods and embodiments. Like elements in different embodiments are generally referred to by like numerals.
The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components. All terms, including technical and scientific terms, used herein have the meaning commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.
In this document, unless specifically stated otherwise, directional terms such as "upper," "lower," "left," "right," "inner," "outer," and the like are used to refer to an orientation or positional relationship shown based on the drawings, and are merely for convenience in describing the present invention, rather than to indicate or imply that the devices, elements, or components referred to must have a particular orientation, be configured or operated in a particular orientation. It should be understood that when the absolute positions of the described objects are changed, the relative positional relationship they represent may also be changed accordingly. Accordingly, these directional terms should not be construed to limit the present invention.
Where expressions like at least one of "A, B and C, etc. are used, the expression" system having at least one of A, B and C "shall be construed, for example, in general, in accordance with the meaning of the expression as commonly understood by those skilled in the art, and shall include, but not be limited to, systems having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc. Where a formulation similar to at least one of "A, B or C, etc." is used, such as "a system having at least one of A, B or C" shall be interpreted in the sense one having ordinary skill in the art would understand the formulation generally, for example, including but not limited to systems having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.
With the development of medical technology, minimally invasive surgery develops rapidly, a remote center of motion (Remote Center of Motion) mechanism is an important component of minimally invasive surgery, and the remote center of motion mechanism can realize a stationary point, namely an RCM point, which coincides with or is located near a lesion position, so that surgical operation on the lesion position can be accurately realized, the lesion position is excised, the safety and accuracy of experiments are ensured, and surgical operation under smaller wounds can be realized. However, in the related art, the remote movement center mechanism generally adopts a parallelogram mechanism, and the RCM points are realized by two parallelogram mechanisms, so that a large number of connecting rods and joints are required to be used, the installation is complex, the occupied space is large in size, and the operation convenience is poor.
The embodiment of the invention provides a flexible body mechanical arm mechanism for a nuclear magnetic compatible minimally invasive surgery robot, which comprises a base 1, a support 2 and a driving mechanism 4 as shown in fig. 1. The base 1 is configured to be mounted to a minimally invasive surgical robot; the support 2 is made of an elastic material and comprises a first support arm 21 and a second support arm 22, the first end of the first support arm 21 is mounted on the base 1, and an extension line of the side edge of the first end of the first support arm 21 defines a first straight line L1; the first end of the plane of the second support arm 22 is connected with the second end of the plane of the first support arm 21 and forms a second straight line L2 at the intersection part; the driving end of the driving mechanism 4 is mounted on the base 1, the driven end of the driving mechanism 4 opposite to the base 1 is connected with the second end of the second supporting arm 22, and the surgical instrument 3 suitable for operating the surgical position (lesion position) of the surgical target is mounted on the driven end, and the driven end defines an operating straight line L3; wherein, the extension lines of the operation straight line L3, the first straight line L1 and the second straight line L2 intersect at a convergence point O near the operation position, so that when the driving mechanism 4 drives the first supporting arm 21, the second supporting arm 22 and the surgical instrument 3 to perform multi-angle motion relative to the base 1, the spatial position of the convergence point O is unchanged, the operation straight line deviates by taking the convergence point O as a fulcrum, and the convergence point O is an RCM point.
In an exemplary embodiment, as shown in fig. 1, the supporting member 2 is made of an elastic material, and is capable of being deformed by a force and recovering after the external force is removed. The support 2 is non-ferromagnetic and is suitable for use in nuclear magnetic environments. The material of the support 2 may be an engineering plastic, for example, polypropylene (PP), polyoxymethylene (POM), ABS plastic, etc.
In an exemplary embodiment, as shown in fig. 1, the support 2 includes a first support arm 21 and a second support arm 22, and the first support arm 21 and the second support arm 22 are of a plate type structure. The first end of the first support arm 21 is embedded in the base and is integrally formed with the base. The equivalent straight lines of the first support arm 21, the second support arm 22, and the driving mechanism 4 constitute a triangle, and the extension lines of the first straight line L1, the second straight line L2, and the operation straight line L3 intersect at a convergence point O near the operation position, so that the equivalent straight lines of the first support arm 21, the second support arm 22, and the driving mechanism 4, and the first straight line L1, the second straight line L2, and the operation straight line L3 enclose a tetrahedron structure. The included angle of the first support arm 21 and the second support arm 22 ranges from greater than 0 degrees to 90 degrees, for example, 15 degrees, 30 degrees, 45 degrees, 60 degrees, 75 degrees, or 90 degrees. The angle between the first support arm 21 and the second support arm 22 may also be an obtuse angle. When the angle between the first support arm 21 and the second support arm 22 is greater than 0 and equal to or less than 90 degrees, the accuracy of defining the operation straight line of the surgical instrument 3 by the driven end with the convergence point O as the fulcrum is high in the process that the operation straight line is deviated with the convergence point O as the fulcrum. The surgical instrument 3 may be a needle, DBS electrode, biopsy needle, or the like. The angle between the first support arm 21 and the second support arm 22 is between 0 and 90 degrees, and the surgical instrument 3 has higher accuracy with the convergence point O as a fulcrum.
In an exemplary embodiment, as shown in fig. 1 and 2, the support 2 further includes a plurality of corrugated plates 23, the plurality of corrugated plates 23 being mounted to the first support arm 21 and the second support arm 22, the plurality of corrugated plates 23 being integrally formed with the first support arm 21 and the second support arm 22.
In an exemplary embodiment, as shown in fig. 1, two sidewalls of each corrugated plate 23 form a triangle with the first support arm 21 or the second support arm 22, which enhances the rigidity of the support 2 and increases the bearing capacity of the support 2. And the extension line of the third straight line where the two sides of each corrugated plate 23 meet passes through the convergence point O, the auxiliary support 2 defines that in the case where the surgical instrument 3 moves at multiple angles with respect to the base 1, the spatial position of the convergence point O is unchanged and the operating straight line is deviated with the convergence point O as a fulcrum.
In one exemplary embodiment, as shown in fig. 1, the plurality of corrugated plates 23 near the first end of the first support arm 21 are located on the inside of the first support arm 21, and the plurality of corrugated plates 23 near the second end of the first support arm 21 are located on the outside of the first support arm 21.
According to the embodiment of the present disclosure, in the process of driving the support member 2 and the surgical instrument 3 by the driving mechanism 4 to move, the first support arm 21 and the second support arm 22 are deformed, and the corrugated plate 23 can disperse the external force applied to the first support arm 21, so as to improve the bearing capacity of the first support arm 21.
In an exemplary embodiment, as shown in fig. 1, a plurality of corrugated plates 23 positioned at the second supporting arm 22 are provided at the outer side of the second supporting arm 22, and the corrugated plates 23 raise the bearing capacity of the second supporting arm 22.
In one exemplary embodiment, as shown in FIG. 1, the drive mechanism 4 includes a drive assembly 41, a connection assembly 42, and an adapter 43. The driving component 41 is arranged on the base 1, and the driving component 41 is arranged at the driving end of the driving mechanism 4; a first end of the connection assembly 42 is connected to the drive assembly 41; an adapter 43 is rotatably mounted at a second end of the connection assembly 42, the adapter 43 being connected to the adapter 43 at a driven end of the drive mechanism 4, the surgical instrument 3 and the second end of the second support arm 22, the connection assembly 42 being movable relative to the base 1 under the drive of the drive assembly 41 and maintaining an operative straight line through the convergence point O at all times. During the movement of the driving mechanism 4 to drive the support 2 and the surgical instrument 3 through the connection assembly 42 and the adapter 43, the first support arm 21 and the second support arm 22 are elastically deformed to generate supporting and restraining forces on the connection assembly 42 and the adapter 43, so that the operating straight line L3 passing through the adapter 43 is always deviated about the convergence point O as a fulcrum. In this way, the relative position of the operating end of the surgical instrument 3, the convergence point O, the lesion position, or the surgical position remains unchanged, but the equivalent straight line of the surgical instrument 3 can be deviated with the convergence point O as a fulcrum, thereby changing the operating angle.
In an exemplary embodiment, as shown in fig. 1 and 3, the driving assembly 41 includes a support 411, two first bevel gears 412, and a second bevel gear 413. The support 411 is mounted to the base 1; two first bevel gears 412 rotatably installed to the support 411 to face each other, rotation axes of the two first bevel gears 412 being positioned on a fourth straight line in common, the two first bevel gears 412 being driven by two motors, respectively; the second bevel gears 413 are disposed in engagement between the two first bevel gears 412, and the rotation axis of the second bevel gears 413 is perpendicular to the fourth straight line; the two first bevel gears 412 and the second bevel gears 413 are connected by a T-shaped connecting shaft 414, and the two shafts of the T-shaped connecting shaft 414 extend along the fourth axis and the axis of the second bevel gears 413, respectively. Wherein, when the two first bevel gears 412 rotate in the same direction, the second bevel gear 413 revolves around the fourth straight line relative to the support 411, and when the two first bevel gears 412 rotate in opposite directions, the second bevel gear 413 rotates around the rotation axis of the second bevel gear 413.
In an exemplary embodiment, as shown in fig. 1 and 3, the first end of the connection assembly 42 is connected to the rotation shaft of the second bevel gear 413 such that the length of the connection assembly 42 is changed and the second end of the connection assembly 42 can be rotated with respect to the adapter 43 during the revolution or rotation of the first end of the connection assembly 42 following the second bevel gear 413.
According to an embodiment of the present disclosure, two motors are started, and the two motors drive the two first bevel gears 412 to rotate, such that the second bevel gear 413 revolves around the fourth straight line with respect to the support 411 when the two first bevel gears 412 rotate in the same direction. When the two first bevel gears 412 are reversely rotated, the second bevel gears 413 are caused to rotate about the rotation axes of the second bevel gears 413. The first end of the connection assembly 42 follows the second bevel gear 413 to revolve or rotate, meanwhile, due to the constraint of the first support arm 21 and the second support arm 22, the length of the connection assembly 42 changes, and the second end of the connection assembly 42 can rotate relative to the adapter 43, so that the surgical instrument 3 mounted on the adapter 43 is driven to move, the support piece 2 deforms, the spatial position of the convergence point O is unchanged and the operating straight line deviates by taking the convergence point O as a fulcrum under the condition that the driving mechanism 4 drives the first support arm 21, the second support arm 22 and the surgical instrument 3 to do multi-angle motion relative to the base 1, the larger posture transformation is realized, the spatial dimension of the robot is reduced while the freedom degree is improved, the operation is convenient, and the flexibility is high.
In one exemplary embodiment, as shown in fig. 1 and 4, the connection assembly 42 includes a fixed link 421 and a telescopic link 422, a first end of the fixed link 421 is mounted to the second bevel gear 413, and the fixed link 421 has a quadrangular cross section; the first end of the telescoping link 422 is slidably mounted to the second end of the fixed link 421 and the second end of the telescoping link 422 is rotatably mounted to the adapter 43 by a ceramic radial spherical plain bearing.
According to the embodiment of the disclosure, in the process that the driving mechanism 4 drives the surgical instrument 3 to move, the support member 2 is deformed, the distance between the second end of the second support arm 22 and the base 1 is changed, the telescopic link 422 slides along the inner wall of the fixed link 421, the length of the connecting assembly 42 is adjusted, and the connecting assembly rotates relative to the adapter 43, so that in the case that the driving mechanism 4 drives the first support arm 21, the second support arm 22 and the surgical instrument 3 to perform multi-angle movement relative to the base 1, the spatial position of the convergence point O is unchanged, the operating straight line is offset with the convergence point O as a fulcrum, and the spatial dimension of the robot is reduced while the degree of freedom is improved.
In an exemplary embodiment, as shown in fig. 1 and 4, the connection assembly 42 further includes a bend 423, the bend 423 being mounted to the first end of the fixed link 421, and the end of the bend 423 remote from the fixed link 421 being mounted to the second bevel gear 413, reducing the probability of the fixed link 421 colliding with the support 411.
According to the flexible mechanical arm mechanism for the nuclear magnetic compatible minimally invasive surgery robot, which is provided by the embodiment, the flexible mechanical arm mechanism is installed on the minimally invasive surgery robot through the base 1, as shown in fig. 5, 6 and 7, the driving mechanism 4 applies external forces to the supporting piece 3 leftwards, upwards and downwards respectively, the driving mechanism 4 drives the supporting piece 2 made of elastic materials, so that under the condition that the first supporting arm 21, the second supporting arm 22 and the surgical instrument 3 perform multi-angle movement relative to the base 1, the spatial position of the convergence point O near the surgery position, where the extension lines of the operation straight line L3, the first straight line L1 and the second straight line L2 intersect, is unchanged, the operation straight line deviates by taking the convergence point O as a fulcrum, the larger gesture transformation is realized, the spatial dimension of the robot is reduced while the degree of freedom is improved, and the operation is convenient and high in flexibility.
While the foregoing embodiments have been described in some detail for purposes of clarity of understanding, it will be appreciated that the invention is not limited to the specific embodiments described above, but is to be accorded the full scope of the invention as defined by the appended claims.
Claims (10)
1. A flexible body robotic arm mechanism for a nuclear magnetic compatible minimally invasive surgical robot, comprising:
a base (1) configured to be mounted to a minimally invasive surgical robot;
-a support (2), the support (2) being made of an elastic material and comprising:
a first support arm (21), a first end of the first support arm (21) being mounted on the base (1), an extension line of a side edge of the first end of the first support arm (21) defining a first straight line (L1); and
the first end of the plane of the second support arm (22) is connected with the second end of the plane of the first support arm (21) and forms a second straight line (L2) at the intersection part; and
a driving end of the driving mechanism (4) is mounted on the base (1), a driven end of the driving mechanism (4) opposite to the base (1) is connected with a second end of the second supporting arm (22), a surgical instrument (3) suitable for operating a surgical position of a surgical target is mounted on the driven end, and the driven end defines an operating straight line (L3);
wherein the extension lines of the operation straight line (L3), the first straight line (L1) and the second straight line (L2) intersect at a convergence point (O) near the operation position, so that the space position of the convergence point (O) is unchanged and the operation straight line is deviated by taking the convergence point (O) as a fulcrum under the condition that the driving mechanism (4) drives the first supporting arm (21), the second supporting arm (22) and the surgical instrument to perform multi-angle motion relative to the base.
2. The flexible body manipulator mechanism according to claim 1, wherein the first support arm (21) and the second support arm (22) have an included angle in a range of greater than 0 and equal to or less than 90 degrees.
3. The flexible body manipulator mechanism according to claim 1, wherein the support (2) further comprises a plurality of corrugated plates (23), a plurality of the corrugated plates (23) being mounted to the first support arm (21) and the second support arm (22).
4. A flexible body manipulator mechanism according to claim 3, characterized in that the two side walls of each corrugated plate (23) form a triangle with the first support arm (21) or the second support arm (22), and that the extension of the third straight line intersecting the two sides of each corrugated plate (23) passes through the convergence point (O).
5. A flexible body manipulator mechanism according to claim 3, characterized in that the plurality of corrugated plates (23) near the first end of the first support arm (21) are located inside the first support arm (21), and the plurality of corrugated plates (23) near the second end of the first support arm (21) are located outside the first support arm (21).
6. A flexible body manipulator mechanism according to claim 3, wherein the plurality of corrugated plates (23) located at the second support arm (22) are arranged outside the second support arm (22).
7. The flexible body manipulator mechanism according to any one of claims 1-6, wherein the drive mechanism (4) comprises:
a drive assembly (41) mounted to the base (1);
-a connection assembly (42), a first end of the connection assembly (42) being connected to the drive assembly (41); and
an adapter (43) rotatably mounted at a second end of the connection assembly (42), the surgical instrument (3) and the second end of the second support arm (22) being connected to the adapter (43), the connection assembly (42) being movable relative to the base (1) under the drive of the drive assembly (41) and maintaining the operating straight line always passing through the convergence point (O).
8. The flexible body robotic arm mechanism of claim 7, wherein the drive assembly (41) comprises:
a support (411) mounted to the base (1);
two first bevel gears (412) rotatably mounted to the support (411) opposite to each other, the rotation axes of the two first bevel gears (412) being located on a fourth straight line in common;
a second bevel gear (413) disposed in engagement between the two first bevel gears (412), and the rotation axis of the second bevel gear (413) is perpendicular to the fourth straight line;
when the two first bevel gears (412) rotate in the same direction, the second bevel gear (413) revolves around the fourth straight line relative to the support (411), and when the two first bevel gears (412) rotate reversely, the second bevel gear (413) rotates around the rotation axis of the second bevel gear (413).
9. The flexible body manipulator mechanism according to claim 8, wherein the first end of the connection assembly (42) is connected to the second bevel gear (413) rotation shaft such that the first end of the connection assembly (42) is rotatable relative to the adapter (43) while the connection assembly (42) is changed in length during revolution or rotation following the second bevel gear (413).
10. The flexible body manipulator mechanism as recited in claim 9, wherein the linkage assembly (42) comprises:
-a fixed link (421), a first end of said fixed link (421) being mounted to said second bevel gear (413); and
-a telescopic link (422), a first end of the telescopic link (422) being slidably mounted to a second end of the fixed link (421), a second end of the telescopic link (422) being rotatably mounted to the adapter (43).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310623743.3A CN116687572A (en) | 2023-05-30 | 2023-05-30 | Flexible body mechanical arm mechanism for nuclear magnetic compatible minimally invasive surgery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310623743.3A CN116687572A (en) | 2023-05-30 | 2023-05-30 | Flexible body mechanical arm mechanism for nuclear magnetic compatible minimally invasive surgery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116687572A true CN116687572A (en) | 2023-09-05 |
Family
ID=87835082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310623743.3A Pending CN116687572A (en) | 2023-05-30 | 2023-05-30 | Flexible body mechanical arm mechanism for nuclear magnetic compatible minimally invasive surgery robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116687572A (en) |
-
2023
- 2023-05-30 CN CN202310623743.3A patent/CN116687572A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101602241B1 (en) | 5 robotic arm with five-bar spherical linkage | |
| US8162926B2 (en) | Robotic arm with five-bar spherical linkage | |
| US8142420B2 (en) | Robotic arm with five-bar spherical linkage | |
| EP1084802B1 (en) | Four-degree-of-freedom parallel robot | |
| US8167872B2 (en) | Center robotic arm with five-bar spherical linkage for endoscopic camera | |
| EP3508158B1 (en) | Instrument set and operation instrument | |
| EP1334700A1 (en) | Active trocar | |
| CN112423694B (en) | Robot arm structure and manipulator of surgical robot including the same | |
| EP3162514B1 (en) | Parallel-type micro-robot and surgical robot system having same | |
| JP2017185594A (en) | Robot, controller, and robot system | |
| JP2019211048A (en) | Link actuation device | |
| CN114098978B (en) | A robotic arm for minimally invasive surgery | |
| JP6797945B2 (en) | Robots and robot assemblies for patient positioning | |
| CN116687572A (en) | Flexible body mechanical arm mechanism for nuclear magnetic compatible minimally invasive surgery robot | |
| JP4826584B2 (en) | Translational and two-degree-of-freedom stage device and three-degree-of-freedom stage device using the same | |
| KR101914153B1 (en) | A joint structure using parallel mechanism and a robot having the same | |
| US20200384656A1 (en) | Parallel integrated drive mechanism | |
| CN111150492B (en) | Single-degree-of-freedom remote motion center mechanism | |
| JP7542446B2 (en) | Parallel link mechanism and link actuator | |
| WO2022151223A1 (en) | Mechanism having remote center of rotation and working device | |
| CN217558933U (en) | Transmission mechanism and bionic trunk mechanical arm with same | |
| CN117426873A (en) | Double-platform parallel robot mechanism with movable telecentric point | |
| US20220401175A1 (en) | Surgery-assisting device | |
| WO2021109074A1 (en) | Multi-degree-of-freedom parallel mechanism | |
| CN117442342A (en) | Double-platform parallel robot mechanism supporting telecentric point moving in three-dimensional space |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |