CN117323015A - Miniaturized multi-degree-of-freedom robot - Google Patents
Miniaturized multi-degree-of-freedom robot Download PDFInfo
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- CN117323015A CN117323015A CN202311417444.0A CN202311417444A CN117323015A CN 117323015 A CN117323015 A CN 117323015A CN 202311417444 A CN202311417444 A CN 202311417444A CN 117323015 A CN117323015 A CN 117323015A
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- 230000007246 mechanism Effects 0.000 claims abstract description 85
- 239000012636 effector Substances 0.000 claims abstract description 22
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- 230000033001 locomotion Effects 0.000 claims description 31
- 230000005540 biological transmission Effects 0.000 claims description 29
- 238000002059 diagnostic imaging Methods 0.000 claims description 8
- 238000003384 imaging method Methods 0.000 claims description 6
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- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 239000004696 Poly ether ether ketone Substances 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- JUPQTSLXMOCDHR-UHFFFAOYSA-N benzene-1,4-diol;bis(4-fluorophenyl)methanone Chemical compound OC1=CC=C(O)C=C1.C1=CC(F)=CC=C1C(=O)C1=CC=C(F)C=C1 JUPQTSLXMOCDHR-UHFFFAOYSA-N 0.000 description 1
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- 238000000034 method Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
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Abstract
The invention discloses a miniaturized multi-degree-of-freedom robot, which comprises a calibration plate, wherein the calibration plate is used for being fixed on a human body; the robot body is used for being mounted on the calibration plate; the robot main body comprises a plane moving platform, a pitching adjusting mechanism and an end effector; the plane moving platform is fixedly arranged on the calibration plate, the end effector comprises an end, a base, a first actuating mechanism and a second actuating mechanism, the first actuating mechanism and the second actuating mechanism are arranged on the base, the end is used for fixing the puncture needle, the first actuating mechanism is used for driving the end to execute rolling action, and the second actuating mechanism is used for driving the end to execute pitching action; the first end of base articulates on plane moving platform, and pitch adjustment mechanism's first end articulates with plane moving platform's output, and the second end articulates with the second end of base. The invention solves the problems that the puncture needle robot cannot be bound with a human body for use, and the needle insertion point of the puncture needle needs to be ensured by a control algorithm, so that a certain unsafe factor exists.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a miniaturized multi-degree-of-freedom robot.
Background
With the development of medical science and technology and the clinical requirements on the difficulty and precision of minimally invasive surgery, medical surgery robots are generated. Medical robots are typical of medical applications of artificial intelligence that integrates multiple aspects of data systems, signal transmission systems, sensing systems, navigation systems, and the like. At present, most of medical operation robots integrate the above parts and perform directional development of specific parts, so that the problems of products are solved quickly, but a plurality of problems are brought at the same time, for example, a three-dimensional directional navigation system is often an integrated Kuka, staubli, UR brand mechanical arm, and problems of positioning precision, rigidity, volume, bottom control technology, independent controllability, safety and the like can be met.
Medical robots of the type described above are generally large in volume, physically unable to maintain a binding relationship with the body, and the needle insertion point of the needle requires control algorithms to ensure, resulting in some unsafe factors.
Disclosure of Invention
The invention mainly aims to provide a miniaturized multi-degree-of-freedom robot, which solves the problems that a puncture needle robot in the related art cannot be bound with a human body for use, and a needle insertion point of a puncture needle needs to be ensured by a control algorithm, so that a certain unsafe factor exists.
In order to achieve the above object, the present invention provides a miniaturized multi-degree of freedom robot comprising:
a calibration plate configured to be capable of imaging in a medical imaging environment, the calibration plate for securing to a human body;
a robot body for mounting to the calibration plate; the robot body comprises a plane moving platform, a pitching adjusting mechanism and an end effector; wherein,
the plane moving platform is fixedly arranged on the calibration plate, the end effector comprises an end, a base, a first actuating mechanism and a second actuating mechanism, the first actuating mechanism and the second actuating mechanism are arranged on the base, the end is used for fixing a puncture needle, the first actuating mechanism is used for driving the end to execute rolling action, and the second actuating mechanism is used for driving the end to execute pitching action;
the first end of the base is hinged to the plane moving platform, the first end of the pitching adjusting mechanism is hinged to the output end of the plane moving platform, and the second end of the pitching adjusting mechanism is hinged to the second end of the base.
Further, the end effector further comprises a rotating seat, and the executing end of the second executing mechanism is arranged on the rotating seat;
the first actuating mechanism comprises a first driving motor and a first gear set; the output end of the first driving motor is in transmission connection with the power input end of the first gear set, and the power output end of the first gear set is in transmission connection with the rotating seat.
Further, the first gear set comprises a first output shaft, a first driving gear and a first driven gear, the first driving gear is in transmission connection with the output end of the first driving motor through the first output shaft, and the first driven gear is meshed with the first driving gear and in transmission connection with the rotating seat through a transmission shaft.
Further, the second actuating mechanism comprises a second driving motor, a second gear set and a connecting rod assembly, wherein the output end of the second driving motor is in transmission connection with the power input end of the second gear set, the power output end of the second gear set is connected with the first end of the connecting rod assembly, the second end of the connecting rod assembly is connected with the tail end, and the connecting rod assembly is configured to drive the tail end to execute pitching motion along with the rotation of the second gear set.
Further, the second gear set comprises a driving bevel gear, a driven bevel gear and a second output shaft;
the driven bevel gear is arranged on the rotating seat through a rotating shaft, the driving bevel gear is fixedly arranged at the first end of the second output shaft, and the second end of the second output shaft is in transmission connection with the second driving motor;
the transmission shaft is rotatably sleeved on the second output shaft, the first driven gear is fixedly sleeved on the transmission shaft, and the rotating seat is fixed on the transmission shaft;
the first end of the connecting rod assembly is fixed on the end face of the driven bevel gear.
Further, the first driving motor and the second driving motor are arranged side by side along the horizontal direction, and the axes of the first output shaft and the second output shaft are parallel.
Further, the connecting rod assembly is a parallelogram rod piece, one rod body of the parallelogram rod piece is fixedly connected with the driven bevel gear, and the other rod body is fixedly connected with the tail end.
Further, the parallelogram rod piece comprises a first rod body, a second rod body and a third rod body which are mutually parallel, and a fourth rod body, a fifth rod body and a sixth rod body which are mutually parallel; wherein,
the fourth rod body is hinged with the first rod body and the second rod body, the fifth rod body is hinged with the first rod body, the second rod body and the third rod body, the sixth rod body is hinged with the second rod body and is fixedly connected with the rotating shaft of the driven bevel gear, and the third rod body is fixed on the rotating seat and is close to the rotating shaft of the driven bevel gear or is in rotating connection with the rotating shaft;
the tail end is fixed on the fourth rod body.
Further, the novel telescopic rod further comprises a seventh rod body, wherein the seventh rod body is parallel to the fourth rod body and is positioned between the fourth rod body and the fifth rod body, and two ends of the seventh rod body are respectively hinged with the first rod body and the second rod body.
Further, the planar moving platform comprises a first linear moving assembly and a second linear moving assembly, the first linear moving assembly is arranged at the output end of the second linear moving assembly, and the first end of the pitching adjusting mechanism is hinged to the output end of the first linear moving assembly;
the second linear moving assembly is detachably fixed on the calibration plate through a quick locking mechanism.
In the embodiment of the invention, the calibration plate is arranged to be capable of imaging in a medical imaging environment and is used for being fixed on a human body; the robot body is used for being mounted on the calibration plate; the robot main body comprises a plane moving platform, a pitching adjusting mechanism and an end effector; the plane moving platform is fixedly arranged on the calibration plate, the end effector comprises an end, a base, a first actuating mechanism and a second actuating mechanism, the first actuating mechanism and the second actuating mechanism are arranged on the base, the end is used for fixing the puncture needle, the first actuating mechanism is used for driving the end to execute rolling action, and the second actuating mechanism is used for driving the end to execute pitching action; the first end of the base is hinged to the planar moving platform, the first end of the pitching adjusting mechanism is hinged to the output end of the planar moving platform, the second end of the pitching adjusting mechanism is hinged to the second end of the base, the fact that the robot main body can be bound to a human body for use by the calibration plate is achieved, meanwhile, the robot main body is enabled to have multiple degrees of freedom through the planar moving platform and an actuating mechanism in the end effector, the needle inlet point of the puncture needle can be adjusted in a mechanism mode through the pitching adjusting mechanism, and therefore the purpose that the robot is bound to the human body for use is achieved, the needle inlet point is controlled in a mechanism movement mode, the technical effect that the use safety is improved is achieved, the problem that a puncture needle robot in the related art cannot be bound to the human body for use is solved, the needle inlet point of the puncture needle needs to be guaranteed by a control algorithm, and a certain unsafe factor exists is caused.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification. The drawings and their description are illustrative of the invention and are not to be construed as unduly limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of an application architecture according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an exploded structure of a miniaturized multi-degree of freedom robot according to an embodiment of the invention;
FIG. 3 is a schematic view of an end effector according to an embodiment of the present invention;
FIG. 4 is a schematic top cross-sectional view of FIG. 3;
FIG. 5 is a schematic illustration of an end effector performing two pitch motions in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of an end effector performing a roll motion between θ1 and θ1 in accordance with an embodiment of the invention;
the device comprises a calibration plate 1, a positioning column 101, a second clamping part 102, a planar moving platform 2, a quick locking mechanism 3, a pitch adjusting mechanism 4, a 5-end actuator 51, a base 52, a first actuating mechanism 521, a first driving gear 522, a first output shaft 523, a first driving motor 524, a transmission shaft 525, a second actuating mechanism 53, a 531 connecting rod assembly 53, a first rod body 5310, a second rod body 5311, a third rod body 5312, a fourth rod body 5313, a fifth rod body 5314, a sixth rod body 5316, a tail end 532, a second 533 driving motor 534, a second output shaft 535, a driven bevel gear 536, a 54 rotating seat 6 puncture needles, a 7-miniaturized multi-degree-of-freedom robot 8 human body.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the invention herein.
In the present invention, the azimuth or positional relationship indicated by the terms "upper", "lower", "inner", and the like are based on the azimuth or positional relationship shown in the drawings. These terms are only used to better describe the present invention and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present invention will be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "disposed," "configured," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 to 6, an embodiment of the present invention provides a miniaturized multi-degree of freedom robot 7, including:
a calibration plate 1, the calibration plate 1 being configured to be capable of imaging in a medical imaging environment, the calibration plate 1 being for fixing to a human body 8;
a robot body for mounting to the calibration plate 1; the robot main body comprises a plane moving platform 2, a pitching adjusting mechanism 4 and an end effector 5; wherein,
the plane moving platform 2 is fixedly arranged on the calibration plate 1, the end effector 5 comprises an end 532, a base 51, a first actuating mechanism 52 and a second actuating mechanism 53 which are arranged on the base 51, the end 532 is used for fixing the puncture needle 6, the first actuating mechanism 52 is used for driving the end 532 to execute rolling action, and the second actuating mechanism 53 is used for driving the end 532 to execute pitching action;
the first end of the base 51 is hinged to the planar mobile platform 2, the first end of the pitch adjustment mechanism 4 is hinged to the output end of the planar mobile platform 2, and the second end is hinged to the second end of the base 51.
In the present embodiment, the calibration plate 1 is used as a base structure of the robot body bound to the human body 8, and may be made of a material capable of imaging in a medical imaging environment, so that the calibration plate 1 can be fixed on the human body 8 and then perform medical imaging together with the human body 8 through the CT apparatus. Specifically, the calibration plate 1 may be made of PEEK, which is a high-transmission X-ray material, and since the robot main body needs to be supported, a reinforced composite material such as carbon fiber and glass fiber may be added to ensure mechanical properties such as rigidity. Binding between the calibration plate 1 and the human body 8 may be achieved by a wearing structure, for example, the calibration plate 1 may be fixed to the human body 8 by elastic straps. The robot main body can be mounted on the calibration plate after the calibration plate 1 performs medical imaging along with the human body 8, and the position relationship between the focus point and the marking point on the calibration plate 1 can be recorded through medical imaging in the process of the common imaging of the calibration plate 1 and the human body 8.
The robot body is used for driving the puncture needle 6 to move in multiple degrees of freedom so as to meet the posture requirement of the puncture needle 6. In the present embodiment, as shown in fig. 2 and 3, the robot body includes a planar moving platform 2, a pitch adjustment mechanism 4, and an end effector 5, and the planar moving platform 2 is configured to provide translational movement along an X axis and a Y axis (the X axis and the Y axis are two axes perpendicular to each other on a horizontal plane). In one embodiment, the planar mobile platform 2 may be in series or parallel. In this embodiment, the serial connection mode is mainly based on design accuracy, and the stacking mode is adopted, so that the occupied space is ensured to be smaller than the occupied space of the parallel connection mode. Specifically, the planar moving platform 2 includes a first linear moving assembly and a second linear moving assembly, which may be connected in series.
As shown in fig. 2 and 3, the end effector 5 is used in this embodiment to drive the needle 6 in pitch and roll. Specifically, the end effector 5 includes a base 51, a first actuator 52 mounted on the base 51 for driving the puncture needle 6 to roll and a second actuator 53 for driving the puncture needle 6 to pitch. In this embodiment, the rolling motion of the puncture needle 6 is a rotational motion about the Y axis (as shown in fig. 6), and the pitching motion is a rotational motion about the X axis (as shown in fig. 5). The specific structure of the first actuator 52 and the second actuator 53 is not limited in this embodiment, as long as it can satisfy the above-described action output.
In order to enable the needle insertion point to fall on the human body 8 after the posture of the puncture needle 6 is determined, a pitch adjustment mechanism 4 is additionally provided in the present embodiment, and the pitch adjustment mechanism 4 is capable of adjusting the pitch angle of the end effector 5. When the gesture of the puncture needle 6 is determined by the first executing mechanism 52 and the second executing mechanism 53, the pitching angle of the puncture needle 6 in the current gesture can be adjusted by the pitching adjusting mechanism 4, and the needle insertion point of the puncture needle 6 can be dropped on the human body 8 after being matched with the plane moving platform 2.
The embodiment achieves the purposes that the robot main body can be bound to the human body 8 for use by the calibration plate 1, meanwhile, the robot main body has a plurality of degrees of freedom through the plane moving platform 2 and the actuating mechanism in the end effector 5, and the needle insertion point of the puncture needle 6 can be adjusted in a mechanism mode by the pitching adjusting mechanism 4, so that the robot is bound to the human body 8 for use, the needle insertion point is controlled in a mechanism movement mode, the technical effect of use safety is improved, and the problems that the puncture needle 6 robot in the related art cannot be bound to the human body 8 for use, the needle insertion point of the puncture needle 6 needs to be ensured by a control algorithm, and a certain unsafe factor exists are solved.
In one embodiment, as shown in fig. 3 and 4, the end effector 5 further includes a rotary seat 54, and the actuating end of the second actuating mechanism 53 is disposed on the rotary seat 54;
the first actuator 52 includes a first drive motor 524 and a first gear set; the output of the first drive motor 524 is in driving connection with the power input of the first gear set, and the power output of the first gear set is in driving connection with the rotary seat 54.
In this embodiment, the rotating base 54 is rotatably mounted on the base 51, and the first actuating mechanism 52 is mainly composed of a first driving motor 524 and a first gear set, where the first driving motor 524 is fixedly mounted on the base 51, and drives the rotating base 54 to rotate by driving the first gear set to rotate, so as to drive the actuating end of the second actuating mechanism 53 mounted on the rotating base 54 to rotate, and finally drive the tail end 532 and the puncture needle 6 to execute the rolling motion.
In one embodiment of the first gear set, as shown in fig. 4, the first gear set includes a first output shaft 522, a first driving gear 521 and a first driven gear 523, the first driving gear 521 is in driving connection with an output end of a first driving motor 524 through the first output shaft 522, and the first driven gear 523 is meshed with the first driving gear 521 and in driving connection with the rotary base 54 through a transmission shaft 525.
In this embodiment, the first output shaft 522 is disposed along the Y axis, the first driving motor 524 is directly connected to the first output shaft 522, the first driving gear 521 is fixedly sleeved on the first output shaft 522, the first driven gear 523 is connected to the side surface of the rotating seat 54 through the transmission shaft 525, and the transmission shaft 525 and the base 51 can be connected through bearings, so as to provide support for the rotating seat 54 and the first driven gear 523. After the first driving gear 521 is meshed with the first driven gear 523, the first driving motor 524 can rotate the first driven gear 523, so that the rotating seat 54 is driven to rotate by the transmission shaft 525.
In one embodiment, the second actuator 53 includes a second driving motor 533, a second gear set, and a link assembly 531, where an output end of the second driving motor 533 is in driving connection with a power input end of the second gear set, a power output end of the second gear set is connected with a first end of the link assembly 531, a second end of the link assembly 531 is connected with the tip 532, and the link assembly 531 is configured to drive the tip 532 to perform a pitching motion along with rotation of the second gear set.
In this embodiment, the second driving motor 533 may be fixed on the base 51, the second driving motor 533 may be capable of driving the second gear set to rotate, a part of the gear structure of the second gear set and the link assembly 531 may be mounted on the rotating base 54, and the rotation of the second gear set may be capable of driving the link assembly 531 to act, so as to drive the tip 532 mounted on the link assembly 531 to perform the pitching motion.
Since the robot of the present invention is required to be bound to the human body 8 for use, the robot is required to have the advantages of miniaturization and weight saving. For this reason, in this embodiment, the moving parts of the first actuator 52 and the second actuator 53 are further adjusted, so that the first actuator 52 and the second actuator 53 are coupled in motion, rather than simply connected in series, thereby effectively reducing the volume of the whole robot.
Specifically, as shown in fig. 3 and 4, in the present embodiment, the second gear set includes a drive bevel gear 535, a driven bevel gear 536, and a second output shaft 534;
the driven bevel gear 536 is arranged on the rotary seat 54 through a rotary shaft, the driving bevel gear 535 is fixedly arranged at the first end of the second output shaft 534, and the second end of the second output shaft 534 is in transmission connection with the second driving motor 533;
the transmission shaft 525 is rotatably sleeved on the second output shaft 534, the first driven gear 523 is fixedly sleeved on the transmission shaft 525, and the rotating seat 54 is fixed on the transmission shaft 525;
the first end of the link assembly 531 is fixed to an end face of the driven bevel gear 536. The axes of the first output shaft 522 and the second output shaft 534 lie in the same plane and are parallel.
In particular, in this embodiment, since the rotation directions output by the first actuator 52 and the second actuator 53 are different, in order to enable the corresponding motors to be disposed on the same side of the base 51, it is necessary to adjust the output direction of one of the motors by a bevel gear. Corresponding to the present embodiment, the first gear set is composed of spur gears, and the second gear set is composed of bevel gears, so that the first driving motor 524 and the second driving motor 533 can still output rotation in different directions after being arranged side by side along the horizontal direction.
The kinematic coupling of the first actuator 52 and the second actuator 53 in this embodiment is primarily embodied in the fact that the driven bevel gear 536 is required to rotate with the rotary base 54 about the axis of the drive shaft 525, while the second drive motor 533, which is connected to the drive bevel gear 535, is required to actively control the rotation of the drive bevel gear 535 during rotation of the driven bevel gear 536 to meet the kinematic requirement of the rotation of the driven bevel gear 536 about the drive shaft 525, as the driven bevel gear 536 is maintained in meshed relationship with the drive bevel gear 535. In order to make the structure compact, the transmission shaft 525 is sleeved on the second output shaft 534, and a bearing can be configured between the transmission shaft 525 and the second output shaft 534 to realize relative rotation. Specifically, when the rolling motion is performed, the first driving motor 524 drives the transmission shaft 525 to rotate relative to the second output shaft 534 and drives the rotating base 54 and the driven bevel gear 536 to rotate, and at the same time, the second driving motor 533 drives the second output shaft 534 to rotate relative to the transmission shaft 525 and drives the driving bevel gear 535 to rotate.
The function of the link assembly 531 in the present invention is to translate the rotational force of the driven bevel gear 536 into pitching motion of the tip 532. As shown in fig. 3 and 5, in the present embodiment, the link assembly 531 is configured as a parallelogram lever, one of the lever bodies of the parallelogram lever is fixedly connected to the driven bevel gear 536, and the other lever body is fixedly connected to the tip 532.
Specifically, it should be noted that, in this embodiment, the parallelogram lever includes at least one parallelogram member, according to the parallelogram principle, the rotation of the adjacent edge around the intersection point can be realized by fixing the lever body on one side of the parallelogram lever and the driven bevel gear 536, and the rotation of the lever body on the opposite side of the parallelogram lever around the intersection point can be realized by fixing the lever body on the opposite side of the parallelogram lever, so that the tip 532 and the puncture needle 6 mounted on the lever body perform the pitching motion. It will be appreciated that the tip 532 referred to in this embodiment may be the shaft itself or a separate mechanism mounted on the shaft for securing the needle 6, and this embodiment is not limited thereto.
In one embodiment of the parallelogram linkage, as shown in FIG. 3, it includes two closed-loop parallelogram mechanisms and one open-loop parallelogram mechanism, wherein the open-loop parallelogram mechanism facilitates mounting of tip 532 and needle 6. Specifically, the parallelogram lever includes a first lever 5310, a second lever 5311 and a third lever 5312 that are parallel to each other, and a fourth lever 5313, a fifth lever 5314 and a sixth lever 5316 that are parallel to each other; wherein,
the fourth rod 5313 is hinged to the first rod 5310 and the second rod 5311, the fifth rod 5314 is hinged to the first rod 5310, the second rod 5311 and the third rod 5312, the sixth rod 5316 is hinged to the second rod 5311 and fixedly connected to the rotation shaft of the driven bevel gear 536, and the third rod 5312 is fixed to the rotation seat 54 and is rotatably connected to the rotation shaft of the driven bevel gear 536 close to or in contact with the rotation shaft.
In this embodiment, a portion of the first rod 5310, a portion of the second rod 5311, a portion of the fourth rod 5313 and a portion of the fifth rod 5314 form a closed-loop parallelogram mechanism, a portion of the second rod 5311 and a portion of the fifth rod 5314 form an open-loop parallelogram mechanism, and another portion of the second rod 5311, another portion of the fifth rod 5314, a third rod 5312 and a sixth rod 5316 form another closed-loop parallelogram mechanism. The tip 532 may be secured to the fourth shank 5313 as a separate needle holding structure. In this embodiment, the driven bevel gear 536 can drive the sixth rod 5316 to rotate, so as to drive the fourth rod 5313 to rotate around the intersection point, and further drive the puncture needle 6 to perform pitching motion.
In one embodiment, to improve structural strength and stability, the parallelogram link further includes a seventh rod parallel to the fourth rod 5313 and located between the fourth rod 5313 and the fifth rod 5314, and two ends of the seventh rod are hinged to the first rod 5310 and the second rod 5311, respectively.
In one embodiment, the planar moving platform 2 includes a first linear moving assembly and a second linear moving assembly, the first linear moving assembly is disposed at an output end of the second linear moving assembly, and a first end of the pitch adjusting mechanism 4 is hinged to the output end of the first linear moving assembly;
the second linear motion assembly is detachably secured to the calibration plate 1 by a quick lock mechanism 3.
As shown in fig. 2, in this embodiment, the first linear motion assembly and the second linear motion assembly are in a serial structure, and may be formed by a screw linear motion mechanism or a belt motion mechanism. To facilitate the mounting of the robot body to the calibration plate 1, this is achieved in this embodiment by a quick lock mechanism 3. Specifically, the second linear motion assembly serves as a lower stage, and its fixed part can be mounted to the calibration plate 1 by the quick lock mechanism 3. In one embodiment, the fixing portion of the second linear moving assembly includes a bottom plate, the quick locking mechanism 3 is fixed at a first end of the bottom plate, a fixing groove is formed at a lower end of the quick locking mechanism 3, a first fastening portion is formed in the fixing groove, and a second fastening portion 102 that is in fastening fit with the first fastening portion is formed on the calibration plate 1. Meanwhile, a positioning groove is formed at the second end of the bottom plate, and a positioning column 101 which is in plug-in fit with the positioning groove is also formed on the calibration plate 1. During installation, the whole robot body can be installed on the calibration plate 1 in an inserting mode, one end of the robot body is fixed through the cooperation of the first fastening part and the second fastening part 102, and the other end of the robot body is positioned through the cooperation of the positioning groove and the positioning column 101.
In this embodiment, the motion output direction of the first linear motion assembly is along the X-axis direction, and the motion output direction of the second linear motion assembly is along the Y-axis direction.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A miniaturized multi-degree of freedom robot comprising:
a calibration plate configured to be capable of imaging in a medical imaging environment, the calibration plate for securing to a human body;
a robot body for mounting to the calibration plate; the robot body comprises a plane moving platform, a pitching adjusting mechanism and an end effector; wherein,
the plane moving platform is fixedly arranged on the calibration plate and comprises a first linear moving assembly and a second linear moving assembly, the first linear moving assembly is arranged at the output end of the second linear moving assembly, the first end of the pitching adjusting mechanism is hinged to the output end of the first linear moving assembly, and the motion output direction of the first linear moving assembly is mutually perpendicular to the output direction of the second linear moving assembly;
the end effector comprises an end, a base, a first actuating mechanism and a second actuating mechanism, wherein the first actuating mechanism and the second actuating mechanism are arranged on the base, the end is used for fixing a puncture needle, the first actuating mechanism is used for driving the end to execute rolling action, and the second actuating mechanism is used for driving the end to execute pitching action;
the first end of the base is hinged to the plane moving platform, the first end of the pitching adjusting mechanism is hinged to the output end of the plane moving platform, and the second end of the pitching adjusting mechanism is hinged to the second end of the base.
2. The miniaturized multi-degree of freedom robot of claim 1 wherein the end effector further comprises a swivel mount, the actuating end of the second actuator being disposed on the swivel mount;
the first actuating mechanism comprises a first driving motor and a first gear set; the output end of the first driving motor is in transmission connection with the power input end of the first gear set, and the power output end of the first gear set is in transmission connection with the rotating seat.
3. The miniaturized multiple degree of freedom robot of claim 2 wherein the first gear set includes a first output shaft, a first drive gear and a first driven gear, the first drive gear being drivingly connected to the output of the first drive motor via the first output shaft, the first driven gear being meshed with the first drive gear and drivingly connected to the swivel base via a drive shaft.
4. A miniaturized multiple degree of freedom robot according to claim 3 wherein the second actuator comprises a second drive motor, a second gear set and a linkage assembly, the output of the second drive motor is drivingly connected to the power input of the second gear set, the power output of the second gear set is connected to the first end of the linkage assembly, the second end of the linkage assembly is connected to the tip, and the linkage assembly is configured to drive the tip to execute a pitching motion as the second gear set rotates.
5. The miniaturized multi-degree of freedom robot of claim 4 wherein the second gear set includes a drive bevel gear, a driven bevel gear, a second output shaft;
the driven bevel gear is arranged on the rotating seat through a rotating shaft, the driving bevel gear is fixedly arranged at the first end of the second output shaft, and the second end of the second output shaft is in transmission connection with the second driving motor;
the transmission shaft is rotatably sleeved on the second output shaft, the first driven gear is fixedly sleeved on the transmission shaft, and the rotating seat is fixed on the transmission shaft;
the first end of the connecting rod assembly is fixed on the end face of the driven bevel gear.
6. The miniaturized multiple degree of freedom robot of claim 5 wherein the first drive motor and the second drive motor are disposed side-by-side in a horizontal direction, and wherein axes of the first output shaft and the second output shaft are parallel.
7. A miniaturized multiple degree of freedom robot according to any one of claims 4 to 6 wherein the linkage assembly is provided as a parallelogram lever, one of the levers being fixedly connected to the driven bevel gear and the other lever being fixedly connected to the end.
8. The miniaturized multiple degree of freedom robot of claim 7 wherein the parallelogram lever includes a first lever, a second lever and a third lever that are parallel to each other, and a fourth lever, a fifth lever and a sixth lever that are parallel to each other; wherein,
the fourth rod body is hinged with the first rod body and the second rod body, the fifth rod body is hinged with the first rod body, the second rod body and the third rod body, the sixth rod body is hinged with the second rod body and is fixedly connected with the rotating shaft of the driven bevel gear, and the third rod body is fixed on the rotating seat and is close to the rotating shaft of the driven bevel gear or is in rotating connection with the rotating shaft;
the tail end is fixed on the fourth rod body.
9. The miniaturized multi-degree of freedom robot of claim 8 further comprising a seventh rod parallel to and between the fourth rod and the fifth rod, the seventh rod having two ends hinged to the first rod and the second rod, respectively.
10. The miniaturized multiple degree of freedom robot of claim 1 wherein the second linear motion assembly is removably secured to the calibration plate by a quick lock mechanism.
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