CN202568432U - Bending mechanism for multi-degree of freedom transmission - Google Patents
Bending mechanism for multi-degree of freedom transmission Download PDFInfo
- Publication number
- CN202568432U CN202568432U CN 201220207304 CN201220207304U CN202568432U CN 202568432 U CN202568432 U CN 202568432U CN 201220207304 CN201220207304 CN 201220207304 CN 201220207304 U CN201220207304 U CN 201220207304U CN 202568432 U CN202568432 U CN 202568432U
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- compliant member
- driver
- rope
- multiple degrees
- freedom transmission
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Abstract
The utility model discloses a bending mechanism for multi-degree of freedom transmission, which comprises a flexible part, a driving rope and a driver, wherein the driving rope is fixed on the flexible part; the driving rope is connected with the driver; the mutual extending and releasing of the driving rope are driven by the driver, so as to realize the bending of the flexible part along any direction; the flexible part comprises a hose and a plurality of discs sleeved on the exterior of the hose; a preset clearance is arranged between adjacent discs; the flexible part can be freely bent; and the discs have a restraining function when the flexible part is bent extremely. The bending mechanism for multi-degree of freedom transmission provided by the utility model has the advantages of easiness in processing and assembling, accurate control and easiness in minimizing. A new method is supplied for realizing the multi-degree of freedom especially in a narrow space.
Description
Technical field
This utility model belongs to technical field of medical instruments, relates to a kind of bender structure that causes, relate in particular to a kind of be used for the multiple degrees of freedom transmission cause the bender structure.
Background technology
Minimally invasive surgery is the developing direction of current medical science and technology forefront, is that the micro-wound surgical operation of representative progressively replaces traditional abdominal with the laparoscopic surgery.Through the development of two more than ten years, characteristics such as the peritoneoscope Minimally Invasive Surgical Technology is day by day ripe, and is little because of its operation wound, that postoperative pain is light, the hospital stays is short, cosmetic result is good have obtained the effect of using widely and being satisfied with clinically.Conventional laparoscopy operation is to accomplish through a plurality of (3-5) small (5-12mm) otch, and the progress along with the abundant and engineering of clinical experience has proposed the operating notion of single-hole laparoscopic recently again.Than the porous laparoscopic surgery, single hole operation has unique advantage: wound is further dwindled, the postoperative preventing from scar, patients ' recovery is fast and infection rate is low.
Traditional minimally invasive surgery apparatus is some elongated rigid apparatus, generally has joystick, drive mechanism and front end to carry out arrestment mechanism.In single-hole laparoscopic surgery, because of the working place is restricted, apparatus is inserted the position and is concentrated, and adopts the conventional laparoscopy operating theater instruments to be difficult to form the operation triangle, and apparatus is easy to mutual interference effect operation and surgical field of view, causes difficulty of operation technique.And apparatus and light source axle line parallel, this can influence the judgement of patient to the degree of depth and distance to a certain extent.Therefore, traditional laparoscopic surgical instruments can't satisfy the development of single-hole laparoscopic surgery, and micro-wound surgical operation requires apparatus more freedom degree, stronger motility to be arranged to increase its operability at present.
The utility model content
This utility model technical problem to be solved is: provide a kind of be used for the multiple degrees of freedom transmission cause the bender structure, its structure, assembling are simple, can control flexibly, are easy to microminiaturization, for the exploitation of multiple degrees of freedom operating theater instruments provides a kind of new approaches.
For solving the problems of the technologies described above, this utility model adopts following technical scheme:
A kind of be used for the multiple degrees of freedom transmission cause the bender structure, comprise compliant member, drive rope, driver;
Said driving lanyard drives rope and is connected with driver in compliant member, drives the mutual stretching of rope and loosens the bending that the realization compliant member is gone up in any direction through driver control.
As a kind of preferred version of this utility model, said compliant member comprises flexible pipe, is enclosed within the outer some disks of flexible pipe, and the setting gap is arranged between the adjacent disk; But said compliant member free bend, and disk plays effect of contraction when beaming limit.
As a kind of preferred version of this utility model, said compliant member comprises flexible pipe, is enclosed within the outer some disks of flexible pipe, and the setting gap is arranged between the adjacent disk; Compliant member is an integral body, and the some ring-shaped grooves in side are between protruding disk and groove or occur; This compliant member can be crooked freely, and disk plays effect of contraction when beaming limit.
As a kind of preferred version of this utility model, said compliant member comprises a main body, is located at some bossings in the main body outside, and the setting gap is arranged between the convex parts adjacent; Said compliant member can be crooked freely, and when beaming limit, be raised with effect of contraction.
As a kind of preferred version of this utility model, said compliant member is provided with some apertures that rope passes through that supply to drive, and the centre is provided with the hole that one or more can supply distal end effector device driver part, cable or optical cable to pass through.
The beneficial effect of this utility model is: this utility model proposes be used for the multiple degrees of freedom transmission cause the bender structure, process and assemble is easy, control accurately and is easy to microminiaturization, is in particular that multivariant realization provides a kind of new method in the small space.
Description of drawings
Fig. 1 is this utility model overall schematic.
Fig. 2-1 is this utility model side view.
Fig. 2-2 is that the AA of Fig. 2-1 is to profile.
Fig. 3 is this utility model duty.
Fig. 4 is a kind of application connected mode of this utility model.
Description of reference numerals:
1 causes bender structure 2 disks
2a far-end disk 2b near-end disk
3 flexible pipes 4 drive rope
4a lanyard 4b rope 1
4c rope 24d rope 3
5 intermediate throughholes, 6 drivers
7 distal end effector device 7a apparatus claws
8 effectors drive
The specific embodiment
Specify the preferred embodiment of this utility model below in conjunction with accompanying drawing.
Embodiment one
See also Fig. 1, Fig. 2-1, Fig. 2-2, this utility model disclose a kind of be used for the multiple degrees of freedom transmission cause bender structure 1, comprise compliant member and drive rope 4.
Compliant member is made up of flexible pipe 3 and some disks 2, and this compliant member can be assembled by disk 2 and flexible pipe 3, also can be independent parts, through precision injection molding.The centre of flexible joint is provided with interstitial hole 5, and this hole can supply the parts such as driver part, cable or optical cable of effector to pass through, and is used for the control of effector or the transmission of energy, under the situation of needs, can increase the number of interstitial hole 5, satisfies the instrumentation demand.
Drive rope 4 and be easy to bending, and be provided with lanyard 4a at far-end.Some holes are set on the disk 2, drive rope 4 and pass peripheral aperture, utilize lanyard 4a to be fixed in far-end disk 2a, driving rope 4 does not have fixed relationship with other disks 2.
The work process that causes bender structure 1 is as shown in Figure 3.Drive rope 4 and interconnect with near-end driver 6, driver 6 can adopt electric drive such as motor, also can be frame for movement, can also adopt other type of drive.6 functions that can realize of driver are the stretchings of control driving rope 4 or loosen.In Fig. 3, driver 6 controls stretch and drive rope 4c, loosen driving rope 4b synchronously, and keep near-end disk 2b to fix, and can realize the bending of compliant member.Shown in Figure 3 is that the compliant member limit in one direction is crooked, and under limit state, the some disks 2 on the flexible joint are in contact with one another, and play effect of contraction.The stretching that drives rope 4b, 4c, 4d etc. through reasonable control with loosen, can realize the bending that compliant member is gone up in any direction.
Shown in Figure 4 is this a kind of application that causes bender structure 1.Cause the far-end assembling effector 7 of bender structure, effector drives 8 and passes the interstitial hole 5 that causes bender structure 1.Effector drives 8 and has certain bendability, can bending with the bending that causes the bender structure, and under case of bending maintenance propelling movement and tensile characteristic.The propelling movement of effector 8 and stretching can realize opening with closed of apparatus claw 7a.In reality realized, far-end disk 2a can be designed to one with effector; Near-end disk 2b can also be designed to one with the fixed part of near-end.
In sum, this utility model proposes be used for the multiple degrees of freedom transmission cause the bender structure, process and assemble is easy, control accurately and is easy to microminiaturization, is in particular that multivariant realization provides a kind of new method in the small space.
Here description of this utility model and application is illustrative, is not to want the scope of this utility model is limited in the above-described embodiments.Here the distortion of the embodiment that is disclosed and change are possible, and the replacement of embodiment is known with the various parts of equivalence for those those of ordinary skill in the art.Those skilled in the art are noted that under the situation of spirit that does not break away from this utility model or substitutive characteristics, and this utility model can be with other form, structure, layout, ratio, and realize with other assembly, material and parts.Under the situation that does not break away from this utility model scope and spirit, can carry out other distortion and change here to the embodiment that is disclosed.
Claims (5)
- One kind be used for the multiple degrees of freedom transmission cause the bender structure, it is characterized in that, comprise compliant member, drive rope, driver;Said driving lanyard drives rope and is connected with driver in compliant member, drives the mutual stretching of rope and loosens the bending that the realization compliant member is gone up in any direction through driver control.
- 2. according to claim 1 be used for the multiple degrees of freedom transmission cause the bender structure, it is characterized in that:Said compliant member comprises flexible pipe, is enclosed within the outer some disks of flexible pipe, and the setting gap is arranged between the adjacent disk; But said compliant member free bend, and disk plays effect of contraction when beaming limit.
- 3. according to claim 1 be used for the multiple degrees of freedom transmission cause the bender structure, it is characterized in that:Said compliant member comprises flexible pipe, is enclosed within the outer some disks of flexible pipe, and the setting gap is arranged between the adjacent disk; Compliant member is an integral body, and the some ring-shaped grooves in side are between protruding disk and groove or occur; This compliant member can be crooked freely, and disk plays effect of contraction when beaming limit.
- 4. according to claim 1 be used for the multiple degrees of freedom transmission cause the bender structure, it is characterized in that:Said compliant member comprises a main body, is located at some bossings in the main body outside, and the setting gap is arranged between the convex parts adjacent; Said compliant member can be crooked freely, and when beaming limit, be raised with effect of contraction.
- According to claim 2 or 3 or 4 described be used for the multiple degrees of freedom transmission cause the bender structure, it is characterized in that:Said compliant member is provided with some apertures that rope passes through that supply to drive, and the centre is provided with the hole that one or more can supply distal end effector device driver part, cable or optical cable to pass through.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220207304 CN202568432U (en) | 2012-05-09 | 2012-05-09 | Bending mechanism for multi-degree of freedom transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220207304 CN202568432U (en) | 2012-05-09 | 2012-05-09 | Bending mechanism for multi-degree of freedom transmission |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202568432U true CN202568432U (en) | 2012-12-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220207304 Expired - Fee Related CN202568432U (en) | 2012-05-09 | 2012-05-09 | Bending mechanism for multi-degree of freedom transmission |
Country Status (1)
| Country | Link |
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| CN (1) | CN202568432U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105342704A (en) * | 2015-11-05 | 2016-02-24 | 北京航空航天大学 | Minimally invasive fracture reduction robot |
| CN106880405A (en) * | 2017-03-30 | 2017-06-23 | 微创（上海）医疗机器人有限公司 | Operating robot flexible instrument, operating theater instruments and endoscope |
| CN110037755A (en) * | 2019-04-04 | 2019-07-23 | 上海世恒医学科技有限公司 | Multiple degrees of freedom flexible intranasal skull base surgery instrument |
| CN112303377A (en) * | 2020-10-10 | 2021-02-02 | 重庆市交通规划勘察设计院有限公司 | Pipeline flexible robot and control method thereof during movement in pipeline |
-
2012
- 2012-05-09 CN CN 201220207304 patent/CN202568432U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105342704A (en) * | 2015-11-05 | 2016-02-24 | 北京航空航天大学 | Minimally invasive fracture reduction robot |
| CN105342704B (en) * | 2015-11-05 | 2017-11-07 | 北京航空航天大学 | A kind of minimally invasive reduction of the fracture machine people |
| CN106880405A (en) * | 2017-03-30 | 2017-06-23 | 微创（上海）医疗机器人有限公司 | Operating robot flexible instrument, operating theater instruments and endoscope |
| WO2018177200A1 (en) * | 2017-03-30 | 2018-10-04 | 微创（上海）医疗机器人有限公司 | Flexible instrument for surgical robot, surgical instrument and endoscope |
| CN106880405B (en) * | 2017-03-30 | 2019-11-22 | 微创（上海）医疗机器人有限公司 | Operating robot flexible instrument, surgical instrument and endoscope |
| CN110037755A (en) * | 2019-04-04 | 2019-07-23 | 上海世恒医学科技有限公司 | Multiple degrees of freedom flexible intranasal skull base surgery instrument |
| CN112303377A (en) * | 2020-10-10 | 2021-02-02 | 重庆市交通规划勘察设计院有限公司 | Pipeline flexible robot and control method thereof during movement in pipeline |
| CN112303377B (en) * | 2020-10-10 | 2022-04-01 | 中铁长江交通设计集团有限公司 | Pipeline flexible robot and control method thereof during movement in pipeline |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121205 Termination date: 20180509 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |