CN118021456A - 5-Degree-of-freedom wire driven endoscope mechanical arm with coupling joint - Google Patents

5-Degree-of-freedom wire driven endoscope mechanical arm with coupling joint Download PDF

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Publication number
CN118021456A
CN118021456A CN202410376372.8A CN202410376372A CN118021456A CN 118021456 A CN118021456 A CN 118021456A CN 202410376372 A CN202410376372 A CN 202410376372A CN 118021456 A CN118021456 A CN 118021456A
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China
Prior art keywords
joint
transverse
longitudinal
upper arm
shoulder joint
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CN202410376372.8A
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Chinese (zh)
Inventor
张勤俭
张洛源
李海源
沈勇
孙玉春
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Beijing University of Posts and Telecommunications
Beijing Information Science and Technology University
Peking University School of Stomatology
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Beijing University of Posts and Telecommunications
Beijing Information Science and Technology University
Peking University School of Stomatology
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Application filed by Beijing University of Posts and Telecommunications, Beijing Information Science and Technology University, Peking University School of Stomatology filed Critical Beijing University of Posts and Telecommunications
Priority to CN202410376372.8A priority Critical patent/CN118021456A/en
Publication of CN118021456A publication Critical patent/CN118021456A/en
Pending legal-status Critical Current

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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a 5-degree-of-freedom wire driven endoscope mechanical arm with a coupling joint, which belongs to the field of endoscope mechanical arms and comprises an execution end and a driving box, wherein the execution end comprises an upper arm, an upper arm end, a transverse shoulder joint, a longitudinal shoulder joint, a lower arm end, a transverse elbow joint, a longitudinal elbow joint, a transverse wrist joint, a longitudinal wrist joint, an adjustable fixing clamp and a lens which are sequentially connected, 5 motors are arranged on the driving box, the upper arm is connected with 1 motor, the transverse shoulder joint, the longitudinal shoulder joint, the transverse wrist joint and the longitudinal wrist joint are respectively and correspondingly connected with the rest 4 motors one by one through driving wire groups, the longitudinal elbow joint is connected with the transverse shoulder joint through a first coupling wire group, and the transverse elbow joint is connected with the end of the upper arm through a second coupling wire group. The 5-degree-of-freedom wire driving endoscope mechanical arm with the coupling joint has the advantages that the movement stability and the working space are improved, and the adjustment angle range of the lens is more accurate.

Description

5-Degree-of-freedom wire driven endoscope mechanical arm with coupling joint
Technical Field
The invention relates to the technical field of endoscope mechanical arms, in particular to a 5-degree-of-freedom wire driven endoscope mechanical arm with a coupling joint.
Background
With the increasing pursuit of postoperative aesthetics by people, minimally invasive surgical applications are emerging. The minimally invasive surgery has the characteristics of small wound, short recovery time, low medical cost and attractive appearance after operation. Minimally invasive surgery uses the natural canal of the human body or creates a small incision in the surface of the human body through which surgical instruments penetrate deep into the interior of the human body to perform the surgical procedure, often requiring a rigid endoscope to assist the surgeon in performing the surgical procedure. The chinese patent with application number cn20201102469. X provides a modular multi-wire drive continuous lens arm based on fixed pulleys, comprising a drive end, a long guide rod, a modular continuum, an internal elastomer and a lens fixed end; one end of the long guide rod is connected with the driving end, the other end of the long guide rod is connected with the modularized continuous body, one end of the inner elastic body is connected with the fixed end of the lens, the other end of the inner elastic body sequentially penetrates through the modularized continuous body and the long guide rod, and the inner elastic body is a hollow elastic tube body; a plurality of driving wires are arranged on the modularized continuum and driven by the driving end. The above structure has the following problems in use: 1. the combined structure of the modularized continuum and the internal elastomer is not enough in rigidity, so that the adjustment angle range of the lens is unstable, and the movement stability is difficult to meet the imaging definition requirement of the high-definition lens; 2. the working space is not wide enough, resulting in poor imaging. In order to solve the above problems, it is necessary to provide a novel endoscope mechanical arm.
Disclosure of Invention
The invention aims to provide a 5-degree-of-freedom wire driven endoscope mechanical arm with a coupling joint, which improves the motion stability and working space and ensures that the adjustment angle range of a lens is more accurate.
In order to achieve the above purpose, the invention provides a 5-degree-of-freedom wire driven endoscope mechanical arm with a coupling joint, which comprises an execution end and a driving box, wherein the execution end comprises an upper arm, an upper arm end, a transverse shoulder joint, a longitudinal shoulder joint, a lower arm end, a transverse elbow joint, a longitudinal elbow joint, a transverse wrist joint, a longitudinal wrist joint, an adjustable fixing clamp and a lens which are sequentially connected, 5 motors are arranged on the driving box, the upper arm is connected with 1 motor, the transverse shoulder joint, the longitudinal shoulder joint, the transverse wrist joint and the longitudinal wrist joint are respectively connected with the rest 4 motors in a one-to-one correspondence manner through driving wire groups, the longitudinal elbow joint is connected with the transverse shoulder joint through a first coupling wire group, and the transverse elbow joint is connected with the end of the upper arm through a second coupling wire group.
Preferably, the upper arm is detachably and fixedly connected with the upper arm end, the longitudinal shoulder joint is connected with the lower arm, the lower arm is connected with the lower arm end, the longitudinal wrist joint is connected with the adjustable fixing clamp in a fixed mode, and the rotating shafts for detachable and rotatable connection are arranged in sequence in an orthogonal mode.
Preferably, the detachable rotary connection surfaces of the upper arm end part, the transverse shoulder joint, the longitudinal shoulder joint, the lower arm end part, the transverse elbow joint, the longitudinal elbow joint, the transverse wrist joint and the longitudinal wrist joint are all provided with two slope surfaces, and the two slope surfaces are symmetrically arranged on two sides of the rotary shaft.
Preferably, the upper arm and the lower arm are hollow structures, and a plurality of rope penetrating holes are formed in the end part of the upper arm, the transverse shoulder joint, the longitudinal shoulder joint, the end part of the lower arm, the transverse elbow joint, the longitudinal elbow joint, the transverse wrist joint and the longitudinal wrist joint.
Preferably, the upper arm is connected with an upper arm seat on the driving box, a through hole communicated with the inside of the upper arm is formed in the middle of the upper arm seat, a circle of gear teeth are formed in the outer edge of the upper arm seat, and the gear teeth are meshed and connected with a self-rotation driving gear on an output shaft of a motor correspondingly connected with the upper arm.
Preferably, the driving wire set comprises a transverse shoulder joint driving part, a longitudinal shoulder joint driving part, a transverse wrist joint driving part and a longitudinal wrist joint driving part, wherein the transverse shoulder joint driving part, the longitudinal shoulder joint driving part, the transverse wrist joint driving part and the longitudinal wrist joint driving part all comprise driving rods, two steel wire ropes, two primary steering pulleys and two secondary steering pulleys, the two primary steering pulleys are fixed on the driving box, the primary steering pulleys are arranged close to the driving rods, and the secondary steering pulleys are arranged close to the through holes; in the transverse shoulder joint driving part, a driving rod is connected with the output end of a motor correspondingly connected with a transverse shoulder joint, one ends of two steel wire ropes are respectively wound and fixed on the driving rod in opposite directions, the other ends of the two steel wire ropes respectively pass through a primary steering pulley and a secondary steering pulley in turn and then pass through holes, rope penetrating holes at the ends of an upper arm and the upper arm, and finally are fixed in the rope penetrating holes of the transverse shoulder joint, and the two steel wire ropes are always arranged in a central symmetry manner in the upper arm, the ends of the upper arm and the transverse shoulder joint; in the longitudinal shoulder joint driving part, a driving rod is connected with the output end of a motor correspondingly connected with a longitudinal shoulder joint, one ends of two steel wire ropes are respectively wound and fixed on the driving rod in opposite directions, the other ends of the two steel wire ropes respectively pass through a through hole, a rope penetrating hole at the end part of an upper arm and a rope penetrating hole at the end part of a transverse shoulder joint after respectively bypassing a primary steering pulley and a secondary steering pulley, are finally fixed in the rope penetrating hole of the longitudinal shoulder joint, and the two steel wire ropes are always arranged in a central symmetry manner in the upper arm, the end part of the upper arm, the transverse shoulder joint and the longitudinal shoulder joint; in the transverse wrist joint driving part, a driving rod is connected with the output end of a motor correspondingly connected with a transverse wrist joint, one ends of two steel wire ropes are respectively wound and fixed on the driving rod in opposite directions, the other ends of the two steel wire ropes respectively pass through a through hole, a rope penetrating hole at the end part of an upper arm, a rope penetrating hole at the end part of a transverse shoulder joint, a rope penetrating hole at the longitudinal shoulder joint, a rope penetrating hole at the end part of a lower arm, a rope penetrating hole at the transverse elbow joint and a rope penetrating hole at the longitudinal elbow joint are finally fixed in the rope penetrating hole at the transverse wrist joint, and the two steel wire ropes are always and symmetrically arranged in the upper arm, the end part of the upper arm, the transverse shoulder joint, the longitudinal shoulder joint, the lower arm, the end part of the transverse elbow joint, the longitudinal elbow joint and the transverse wrist joint; in the longitudinal wrist joint driving part, a driving rod is connected with the output end of a motor correspondingly connected with a longitudinal wrist joint, one ends of two steel wire ropes are respectively wound and fixed on the driving rod in opposite directions, the other ends of the two steel wire ropes respectively pass through a through hole, a rope penetrating hole at the end part of an upper arm, a rope penetrating hole at the end part of a transverse shoulder joint, a rope penetrating hole at the longitudinal shoulder joint, a rope penetrating hole at the end part of a lower arm, a rope penetrating hole at the transverse elbow joint, a rope penetrating hole at the longitudinal elbow joint and a rope penetrating hole at the transverse wrist joint are respectively wound and fixed on the driving rod in opposite directions, and the two steel wire ropes are always and symmetrically arranged in the upper arm, the end part of the upper arm, the transverse shoulder joint, the longitudinal shoulder joint, the lower arm, the end part of the lower arm, the transverse elbow joint, the longitudinal elbow joint, the transverse wrist joint and the longitudinal wrist joint.
Preferably, the first coupling wire set and the second coupling wire set each comprise two coupling wires, the two coupling wires in the first coupling wire set are arranged in a central symmetry manner, two ends of the two coupling wires are fixedly connected with a rope penetrating hole in a transverse shoulder joint and a rope penetrating hole in a longitudinal elbow joint respectively, and the two coupling wires in the second coupling wire set are arranged in a central symmetry manner, and two ends of the two coupling wires are fixedly connected with the rope penetrating hole in the end part of the upper arm and the rope penetrating hole in the transverse elbow joint respectively.
Preferably, the chamfer angle of the slope surface is 45 degrees.
Preferably, the adjustable fixing clamp comprises a clamp body, one end of the clamp body is fixedly connected with the longitudinal wrist joint, a deformation joint is arranged at the other end of the clamp body, a first clamp head and a second clamp head which are symmetrically arranged are respectively arranged at two sides of the deformation joint, arc-shaped grooves are formed in one side surface, close to the deformation joint, of the first clamp head and one side surface, close to the second clamp head, of the second clamp head, connecting lugs are respectively arranged at two ends of the first clamp head and two connecting lugs which are oppositely arranged are connected through bolts.
Therefore, the 5-degree-of-freedom wire driving endoscope mechanical arm with the coupling joint with the structure improves the motion stability and the working space, and the adjusting angle range of the lens is more accurate.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a schematic view of a 5-degree-of-freedom wire driven endoscope robotic arm embodiment of the present invention having a coupling joint;
FIG. 2 is a schematic view of an embodiment of the present invention having a 5 degree of freedom wire drive endoscope manipulator with a coupling joint;
FIG. 3 is a schematic view of an embodiment of the upper arm end of a 5-degree-of-freedom wire driven endoscope robotic arm of the present invention having a coupling joint;
FIG. 4 is a schematic view of an embodiment of a drive box in a 5-degree-of-freedom wire driven endoscope robotic arm with a coupling joint of the present invention;
FIG. 5 is a schematic view of an embodiment of a first set of coupling wires in a 5-degree-of-freedom wire driven endoscope robotic arm having a coupling joint of the present invention;
FIG. 6 is a schematic view of an embodiment of an adjustable fixation clamp in a 5-degree-of-freedom wire driven endoscope robotic arm with a coupling joint of the present invention.
Reference numerals
1. A drive box; 2. an upper arm; 3. an upper arm end; 4. a transverse shoulder joint; 5. a longitudinal shoulder joint; 6. a lower arm; 7. a lower arm end; 8. transverse elbow joint; 9. a longitudinal elbow joint; 10. transverse wrist joint; 11. a longitudinal wrist joint; 12. an adjustable fixation clamp; 121. a clamp body; 122. a deformation joint; 123. a first chuck; 124. a second chuck; 125. a connecting lug; 126. a bolt; 13. a lens; 14. threading the rope hole; 15. concave-convex engaging teeth; 16. a rotation shaft; 17. an arc-shaped groove; 18. a slope surface; 19. a motor; 20. an upper arm base; 21. a through hole; 22. gear teeth; 23. a self-rotation drive gear; 24. a driving rod; 25. a primary diverting pulley; 26. a secondary diverting pulley; 27. and (5) coupling the wire rope.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1-6, a 5-degree-of-freedom wire driven endoscope mechanical arm with a coupling joint comprises an execution end and a driving box 1, wherein the execution end comprises an upper arm 2, an upper arm end 3, a transverse shoulder joint 4, a longitudinal shoulder joint 5, a lower arm 6, a lower arm end 7, a transverse elbow joint 8, a longitudinal elbow joint 9, a transverse wrist joint 10, a longitudinal wrist joint 11, an adjustable fixing clamp 12 and a lens 13 which are sequentially connected. The upper arm 2 and the lower arm 6 are hollow structures, and a plurality of rope penetrating holes 14 are respectively arranged on the upper arm end 3, the transverse shoulder joint 4, the longitudinal shoulder joint 5, the lower arm end 7, the transverse elbow joint 8, the longitudinal elbow joint 9, the transverse wrist joint 10 and the longitudinal wrist joint 11. The upper arm 2 and the upper arm end 3, the longitudinal shoulder joint 5 and the lower arm 6, the lower arm 6 and the lower arm end 7, and the longitudinal wrist joint 11 and the adjustable fixing clamp 12 are all detachably and fixedly connected in a connecting mode by utilizing concave-convex meshing teeth 15.
The upper arm end 3 and the transverse shoulder joint 4, the transverse shoulder joint 4 and the longitudinal shoulder joint 5, the lower arm end 7 and the transverse elbow joint 8, the transverse elbow joint 8 and the longitudinal elbow joint 9, the longitudinal elbow joint 9 and the transverse wrist joint 10, and the transverse wrist joint 10 and the longitudinal wrist joint 11 are all detachably and rotatably connected, and the rotating shafts 16 for detachably and rotatably connecting are sequentially arranged in an orthogonal mode. The detachable rotary connection can be realized by connecting the rotary shaft 16 with an arc-shaped groove 17 matched with the rotary shaft. The detachable rotary connection surfaces of the upper arm end part 3, the transverse shoulder joint 4, the longitudinal shoulder joint 5, the lower arm end part 7, the transverse elbow joint 8, the longitudinal elbow joint 9, the transverse wrist joint 10 and the longitudinal wrist joint 11 are respectively provided with two slope surfaces 18, and the two slope surfaces 18 are symmetrically arranged on two sides of the rotary shaft 16. The chamfer angle of the inclined surface 18 is 45 degrees, and the inclined surface 18 can maintain the rotation range of each joint at-45 degrees to 45 degrees, so that the adjustment angle range of the lens 13 is more accurate.
The driving box 1 is provided with 5 motors 19, and the upper arm 2 is connected with 1 motor 19. The upper arm 2 is connected with an upper arm seat 20 on the driving box 1, a through hole 21 communicated with the inside of the upper arm 2 is formed in the middle of the upper arm seat 20, a circle of gear teeth 22 are formed in the outer edge of the upper arm seat 20, the gear teeth 22 are meshed with a self-rotation driving gear 23 on an output shaft of a motor 19 correspondingly connected with the upper arm 2, and the gear teeth 22 and the self-rotation driving gear 23 can enable the motor 19 to drive the upper arm 2 to self-rotate, so that the self-rotation freedom degree J 1 of the mechanical arm is achieved.
The transverse shoulder joint 4, the longitudinal shoulder joint 5, the transverse wrist joint 10 and the longitudinal wrist joint 11 are connected with the rest 4 motors 19 in a one-to-one correspondence manner through a driving wire set, wherein the driving wire set comprises a transverse shoulder joint driving part, a longitudinal shoulder joint driving part, a transverse wrist joint driving part and a longitudinal wrist joint driving part. The transverse shoulder joint driving part, the longitudinal shoulder joint driving part, the transverse wrist joint driving part and the longitudinal wrist joint driving part all comprise a driving rod 24, two steel wire ropes, two primary steering pulleys 25 and two secondary steering pulleys 26 which are fixed on the driving box 1, wherein the primary steering pulleys 25 are arranged close to the driving rod 24, and the secondary steering pulleys 26 are arranged close to the through holes 21.
In the transverse shoulder joint driving part, a driving rod 24 is connected with the output end of a motor 19 correspondingly connected with a transverse shoulder joint 4, one ends of two steel wires are respectively wound and fixed on the driving rod 24 in opposite directions, and the other ends of the two steel wires respectively pass through a primary steering pulley 25 and a secondary steering pulley 26 in turn and then pass through a through hole 21, a rope penetrating hole 14 of an upper arm 2 and an upper arm end 3, and are finally fixed in the rope penetrating hole 14 of the transverse shoulder joint 4. The two steel wire ropes are arranged in the upper arm 2, the upper arm end 3 and the transverse shoulder joint 4 in a central symmetry mode all the time, and when the motor 19 drives the driving rod 24 to rotate, the two steel wire ropes are tightened and loosened to rotate the transverse shoulder joint 4, so that the transverse swinging freedom degree J 2 of the shoulder joint of the mechanical arm is achieved.
In the longitudinal shoulder joint driving part, a driving rod 24 is connected with the output end of a motor 19 correspondingly connected with a longitudinal shoulder joint 5, one ends of two steel wires are respectively wound and fixed on the driving rod 24 in opposite directions, and the other ends of the two steel wires respectively pass through a through hole 21, a rope penetrating hole 14 of an upper arm 2 and an upper arm end part 3 and a rope penetrating hole 14 of a transverse shoulder joint 4 after respectively passing around a primary steering pulley 25 and a secondary steering pulley 26 in sequence, and are finally fixed in the rope penetrating hole 14 of the longitudinal shoulder joint 5. The two steel wire ropes are arranged in the upper arm 2, the upper arm end 3, the transverse shoulder joint 4 and the longitudinal shoulder joint 5 in a central symmetry mode all the time, and when the motor 19 drives the driving rod 24 to rotate, the two steel wire ropes are tightened and loosened to realize the rotation of the longitudinal shoulder joint 5, so that the longitudinal swinging freedom degree J 3 of the shoulder joint of the mechanical arm is realized.
In the transverse wrist joint driving part, a driving rod 24 is connected with the output end of a motor 19 correspondingly connected with a transverse wrist joint 10, one ends of two steel wires are respectively wound and fixed on the driving rod 24 in opposite directions, and the other ends of the two steel wires respectively pass through a through hole 21, an upper arm 2 and a rope through hole 14 of an upper arm end part 3 after passing through a primary diverting pulley 25 and a secondary diverting pulley 26, pass through the rope through hole 14 of a transverse shoulder joint 4, pass through the rope through hole 14 of a longitudinal shoulder joint 5, pass through the rope through hole 14 of a lower arm 6 and the rope through hole 14 of a lower arm end part 7, pass through the rope through hole 14 of a transverse elbow joint 8 and pass through the rope through hole 14 of a longitudinal elbow joint 9, and are finally fixed in the rope through hole 14 of the transverse wrist joint 10. The two steel wire ropes are arranged in the upper arm 2, the upper arm end 3, the transverse shoulder joint 4, the longitudinal shoulder joint 5, the lower arm 6, the lower arm end 7, the transverse elbow joint 8, the longitudinal elbow joint 9 and the transverse wrist joint 10 in a central symmetry mode all the time, and when the motor 19 drives the driving rod 24 to rotate, the two steel wire ropes are tightened and loosened once to rotate the transverse wrist joint 10, so that the wrist joint transverse swinging freedom degree J 4 of the mechanical arm is realized.
In the longitudinal wrist joint driving part, a driving rod 24 is connected with the output end of a motor 19 correspondingly connected with a longitudinal wrist joint 11, one ends of two steel wires are respectively wound and fixed on the driving rod 24 in opposite directions, and the other ends of the two steel wires respectively pass through a through hole 21, an upper arm 2, a rope penetrating hole 14 of an upper arm end part 3, a rope penetrating hole 14 of a transverse shoulder joint 4, a rope penetrating hole 14 of a longitudinal shoulder joint 5, a rope penetrating hole 14 of a lower arm 6, a rope penetrating hole 14 of a lower arm end part 7, a rope penetrating hole 14 of a transverse elbow joint 8, a rope penetrating hole 14 of a longitudinal elbow joint 9 and a rope penetrating hole 14 of a transverse wrist joint 10 after respectively passing through a primary steering pulley 25 and a secondary steering pulley 26 in sequence are finally fixed in the rope penetrating hole 14 of the longitudinal wrist joint 11. The two steel wire ropes are arranged in the upper arm 2, the upper arm end 3, the transverse shoulder joint 4, the longitudinal shoulder joint 5, the lower arm 6, the lower arm end 7, the transverse elbow joint 8, the longitudinal elbow joint 9, the transverse wrist joint 10 and the longitudinal wrist joint 11 in a central symmetry mode all the time, when the motor 19 drives the driving rod 24 to rotate, the two steel wire ropes are loosened once, so that the rotation of the longitudinal wrist joint 11 is realized, and the wrist joint longitudinal swinging freedom J 5 of the mechanical arm is further realized.
The longitudinal elbow joint 9 is connected with the transverse shoulder joint 4 through the first coupling wire group, the transverse elbow joint 8 is connected with the upper arm end part 3 through the second coupling wire group, and the coupling linkage of the elbow joint and the shoulder joint is realized through the first coupling wire group and the second coupling wire group, namely, the rotation of the elbow joint and the shoulder joint with the same angle value but in the opposite directions can be realized, so that the working space can be increased while the number of motors 19 is saved. The first coupling wire set and the second coupling wire set both comprise two coupling wires 27, the two coupling wires 27 in the first coupling wire set are arranged in a central symmetry mode, two ends of the two coupling wires are fixedly connected with a rope through hole 14 on the transverse shoulder joint 4 and a rope through hole 14 on the longitudinal elbow joint 9 respectively, when a steel wire rope in a longitudinal shoulder joint driving part drives the longitudinal shoulder joint 5 to rotate, one end, close to the longitudinal shoulder joint 5, of the two coupling wires 27 in the first coupling wire set is loose, and one end, close to the longitudinal elbow joint 9, of the two coupling wires 27 in the first coupling wire set is loose, so that the longitudinal elbow joint 9 and the longitudinal shoulder joint 5 can realize coupling linkage with the same angle value but opposite directions, and further the elbow joint longitudinal coupling swinging degree of freedom J 3 * of the mechanical arm is equal to J 3 in size and opposite in direction.
The two coupling wires 27 in the second coupling wire group are arranged in a central symmetry mode, two ends of the two coupling wires are fixedly connected with the wire through holes 14 in the upper arm end portion 3 and the wire through holes 14 in the transverse elbow joint 8 respectively, when the steel wire rope in the transverse shoulder joint driving portion drives the transverse shoulder joint 4 to rotate, one end, close to the upper arm end portion 3, of the two coupling wires 27 in the second coupling wire group is loose, and the two ends, close to the transverse elbow joint 8, of the two coupling wires 27 in the second coupling wire group are loose because the lengths of the two coupling wires 27 are unchanged, so that the transverse elbow joint 8 and the transverse shoulder joint 4 achieve coupling linkage with the same angle value but opposite directions, and further the transverse elbow joint transverse coupling swinging degree of freedom J 2 * of the mechanical arm is achieved, the size of the mechanical arm is equal to that of J 2, and the direction of the mechanical arm is opposite.
The adjustable fixing clamp 12 comprises a clamp body 121, one end of the clamp body 121 is fixedly connected with a longitudinal wrist joint 11, a deformation joint 122 is arranged at the other end of the clamp body 121, a first clamp head 123 and a second clamp head 124 which are symmetrically arranged are respectively arranged at two sides of the deformation joint 122, arc-shaped grooves are respectively formed in one side surface, close to the deformation joint 122, of the first clamp head 123 and one side surface, close to the deformation joint 122, of the second clamp head 124, connecting lugs 125 are respectively arranged at two ends of the first clamp head 123 and two ends of the second clamp head 124, and two connecting lugs 125 which are oppositely arranged are connected through bolts 126. In use, the lens 13 is inserted between the two arc-shaped grooves, and then the bolt 126 is tightened so that the first clamp head 123 and the second clamp head 124 are close to each other under the action of the deformation joint 122 to clamp and fix the lens 13.
Therefore, the 5-degree-of-freedom wire driving endoscope mechanical arm with the coupling joint with the structure improves the motion stability and the working space, and the adjusting angle range of the lens is more accurate.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.

Claims (9)

1. A 5 degree of freedom wire driven endoscope mechanical arm with a coupling joint, characterized in that: including execution end and driving case, the execution end is including the upper arm that connects gradually, upper arm tip, horizontal shoulder joint, vertical shoulder joint, lower arm tip, horizontal elbow joint, vertical elbow joint, horizontal wrist joint, vertical wrist joint, adjustable fixation clamp and camera lens, be equipped with 5 motors on the driving case, the upper arm is connected with 1 motor wherein, horizontal shoulder joint vertical shoulder joint horizontal wrist joint with vertical wrist joint all is connected with remaining 4 motors one-to-one through the drive wire group, vertical elbow joint is connected with horizontal shoulder joint through first coupling wire group, horizontal elbow joint passes through second coupling wire group and upper arm end connection.
2. The 5-degree-of-freedom wire driven endoscope manipulator with coupling joint of claim 1, wherein: the upper arm is detachably and fixedly connected with the upper arm end part, the longitudinal shoulder joint is connected with the lower arm, the lower arm is connected with the lower arm end part, the longitudinal wrist joint is connected with the adjustable fixing clamp in a detachable and rotatable mode, and the rotating shafts for detachable and rotatable connection are arranged in sequence in an orthogonal mode.
3. The 5-degree-of-freedom wire driven endoscope manipulator with coupling joint of claim 2, wherein: the upper arm end part, the transverse shoulder joint, the longitudinal shoulder joint, the lower arm end part, the transverse elbow joint, the longitudinal elbow joint, the transverse wrist joint and the detachable rotary connection surface of the longitudinal wrist joint are respectively provided with two slope surfaces, and the two slope surfaces are symmetrically arranged on two sides of the rotary shaft.
4. The 5-degree-of-freedom wire driven endoscope manipulator with coupling joint of claim 3, wherein: the upper arm and the lower arm are hollow structures, and a plurality of rope penetrating holes are formed in the end part of the upper arm, the transverse shoulder joint, the longitudinal shoulder joint, the end part of the lower arm, the transverse elbow joint, the longitudinal elbow joint, the transverse wrist joint and the longitudinal wrist joint.
5. The 5-degree-of-freedom wire driven endoscope manipulator with coupling joint of claim 4, wherein: the upper arm is connected with an upper arm seat on the driving box, a through hole communicated with the inside of the upper arm is formed in the middle of the upper arm seat, a circle of gear teeth are formed in the outer edge of the upper arm seat, and the gear teeth are in meshed connection with a self-rotation driving gear on an output shaft of a motor correspondingly connected with the upper arm.
6. The 5-degree-of-freedom wire driven endoscope manipulator with coupling joint of claim 5, wherein: the driving wire set comprises a transverse shoulder joint driving part, a longitudinal shoulder joint driving part, a transverse wrist joint driving part and a longitudinal wrist joint driving part, wherein the transverse shoulder joint driving part, the longitudinal shoulder joint driving part, the transverse wrist joint driving part and the longitudinal wrist joint driving part all comprise driving rods, two steel wire ropes, two primary steering pulleys and two secondary steering pulleys, the two primary steering pulleys are fixed on the driving box, the primary steering pulleys are arranged close to the driving rods, and the secondary steering pulleys are arranged close to the through holes; in the transverse shoulder joint driving part, a driving rod is connected with the output end of a motor correspondingly connected with a transverse shoulder joint, one ends of two steel wire ropes are respectively wound and fixed on the driving rod in opposite directions, the other ends of the two steel wire ropes respectively pass through a primary steering pulley and a secondary steering pulley in turn and then pass through holes, rope penetrating holes at the ends of an upper arm and the upper arm, and finally are fixed in the rope penetrating holes of the transverse shoulder joint, and the two steel wire ropes are always arranged in a central symmetry manner in the upper arm, the ends of the upper arm and the transverse shoulder joint; in the longitudinal shoulder joint driving part, a driving rod is connected with the output end of a motor correspondingly connected with a longitudinal shoulder joint, one ends of two steel wire ropes are respectively wound and fixed on the driving rod in opposite directions, the other ends of the two steel wire ropes respectively pass through a through hole, a rope penetrating hole at the end part of an upper arm and a rope penetrating hole at the end part of a transverse shoulder joint after respectively bypassing a primary steering pulley and a secondary steering pulley, are finally fixed in the rope penetrating hole of the longitudinal shoulder joint, and the two steel wire ropes are always arranged in a central symmetry manner in the upper arm, the end part of the upper arm, the transverse shoulder joint and the longitudinal shoulder joint; in the transverse wrist joint driving part, a driving rod is connected with the output end of a motor correspondingly connected with a transverse wrist joint, one ends of two steel wire ropes are respectively wound and fixed on the driving rod in opposite directions, the other ends of the two steel wire ropes respectively pass through a through hole, a rope penetrating hole at the end part of an upper arm, a rope penetrating hole at the end part of a transverse shoulder joint, a rope penetrating hole at the longitudinal shoulder joint, a rope penetrating hole at the end part of a lower arm, a rope penetrating hole at the transverse elbow joint and a rope penetrating hole at the longitudinal elbow joint are finally fixed in the rope penetrating hole at the transverse wrist joint, and the two steel wire ropes are always and symmetrically arranged in the upper arm, the end part of the upper arm, the transverse shoulder joint, the longitudinal shoulder joint, the lower arm, the end part of the transverse elbow joint, the longitudinal elbow joint and the transverse wrist joint; in the longitudinal wrist joint driving part, a driving rod is connected with the output end of a motor correspondingly connected with a longitudinal wrist joint, one ends of two steel wire ropes are respectively wound and fixed on the driving rod in opposite directions, the other ends of the two steel wire ropes respectively pass through a through hole, a rope penetrating hole at the end part of an upper arm, a rope penetrating hole at the end part of a transverse shoulder joint, a rope penetrating hole at the longitudinal shoulder joint, a rope penetrating hole at the end part of a lower arm, a rope penetrating hole at the transverse elbow joint, a rope penetrating hole at the longitudinal elbow joint and a rope penetrating hole at the transverse wrist joint are respectively wound and fixed on the driving rod in opposite directions, and the two steel wire ropes are always and symmetrically arranged in the upper arm, the end part of the upper arm, the transverse shoulder joint, the longitudinal shoulder joint, the lower arm, the end part of the lower arm, the transverse elbow joint, the longitudinal elbow joint, the transverse wrist joint and the longitudinal wrist joint.
7. The 5-degree-of-freedom wire driven endoscope manipulator with coupling joint of claim 6, wherein: the first coupling silk group with the second coupling silk group all includes two coupling silk ropes, two coupling silk ropes in the first coupling silk group are central symmetry setting and both ends respectively with the reeving hole on the horizontal shoulder joint and the reeving hole fixed connection on the vertical elbow joint, two coupling silk ropes in the second coupling silk group are central symmetry setting and both ends respectively with the reeving hole on the upper arm tip and the reeving hole fixed connection on the horizontal elbow joint.
8. The 5-degree-of-freedom wire driven endoscope manipulator with coupling joint of claim 7, wherein: the chamfer angle of the slope surface is 45 degrees.
9. The 5-degree-of-freedom wire driven endoscope manipulator with coupling joint of claim 8, wherein: the adjustable fixing clamp comprises a clamp body, one end of the clamp body is fixedly connected with the longitudinal wrist joint, the other end of the clamp body is provided with a deformation joint, two sides of the deformation joint are respectively provided with a first clamp head and a second clamp head which are symmetrically arranged, the first clamp head and the second clamp head are close to one side face of the deformation joint and are respectively provided with an arc-shaped groove, two ends of the first clamp head and two ends of the second clamp head are respectively provided with a connecting lug, and two connecting lugs which are oppositely arranged are connected through bolts.
CN202410376372.8A 2024-03-29 2024-03-29 5-Degree-of-freedom wire driven endoscope mechanical arm with coupling joint Pending CN118021456A (en)

Priority Applications (1)

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CN202410376372.8A CN118021456A (en) 2024-03-29 2024-03-29 5-Degree-of-freedom wire driven endoscope mechanical arm with coupling joint

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Application Number Priority Date Filing Date Title
CN202410376372.8A CN118021456A (en) 2024-03-29 2024-03-29 5-Degree-of-freedom wire driven endoscope mechanical arm with coupling joint

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CN118021456A true CN118021456A (en) 2024-05-14

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