CN203619682U - Series-parallel minimally invasive surgery mechanical arm with five freedom degrees - Google Patents
Series-parallel minimally invasive surgery mechanical arm with five freedom degrees Download PDFInfo
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- CN203619682U CN203619682U CN201320732915.2U CN201320732915U CN203619682U CN 203619682 U CN203619682 U CN 203619682U CN 201320732915 U CN201320732915 U CN 201320732915U CN 203619682 U CN203619682 U CN 203619682U
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Abstract
A series-parallel minimally invasive surgery mechanical arm with five freedom degrees comprises a main fixed platform, a main movable platform, a turnover fixed platform and a work movable platform. The main fixed platform and the main movable platform are connected through three first movable supporting chains of the same structure to form a first closed-loop parallel mechanism with three freedom degrees, and the turnover fixed platform and the work movable platform are connected through three second movable supporting chains of the same structure to form a second closed-loop parallel mechanism with three freedom degrees. The two three-freedom-degree closed-loop parallel mechanisms are connected in series to form the series-parallel minimally invasive surgery mechanical arm with the five freedom degrees. Three first driving motors are used for changing the include angle between three master arms and the main fixed platform to achieve the three-dimensional space movement of the work movable platform. Three second driving motors are used for changing the elongation of three linear driving rods, therefore, the turnover movement of the work movable platform is achieved, the five freedom degrees can be provided for operative instruments, and the series-parallel minimally invasive surgery mechanical arm is suitable for assisting doctors in completing high-precision and high-difficulty minimally invasive surgery.
Description
Technical field
This utility model relates to robot, and particularly one can be imitated doctor's arm motion, and auxiliary doctor completes the mixed-coupled five-freedom micro-wound surgical operation mechanical arm of highly difficult micro-wound surgical operation.
Background technology
Along with the development of micro-wound surgical operation is with universal, last century, the nineties started to have occurred the operating robot of performing the operation for auxiliary doctor, and these operating robots are applied in the high accuracy that some doctors cannot free-handly complete, highly difficult Minimally Invasive Surgery.
In operating robot structure aspects, the mechanical arm of main flow is main mainly with serial mechanism at present.Although serial mechanism have configuration simple, control the many advantages such as reliable, face and have a lot of defects to the special occasions of micro-wound surgical operation.First, mechanical arm need to provide multiple degree of freedom and require to have enough flexibility ratios in narrow and small abdominal space for operating theater instruments, and series connection mechanical arm must be designed to have multiple kinematic pairs joint to meet multiple degrees of freedom requirement, the movable joint thereby the constraint that also must consider mini-incision need to be made rational planning for simultaneously; Secondly, in operation process, apparatus generally need to do the space motion of 6 degree of freedom, serial mechanism operator movement inertia in the time doing multiple degrees of freedom space motion is large, and motion isotropism degree is poor, and this mechanism kinematic defect has caused mechanical arm tail end operator to carry out the decline of precision; The 3rd, serial mechanism bearing capacity is poor, while carrying power apparatus, can produce the problems such as shake, has limited complicated diversified operating theater instruments and has entered human body, thereby hindered further developing of robot automation's operation.Series connection mechanical arm can only be by improving motor performance, the method such as optimize structure overcomes above shortcoming, increased manufacture and assembly cost.
In order to overcome the shortcomings of serial mechanism, this utility model patent has proposed the series-parallel mechanical arm being made up of two parallel institutions, compared with existing series connection mechanical arm, series-parallel mechanical arm has the following advantages: described mechanical arm has larger flexibility ratio in Constrained situation, and motion isotropism degree is good; Mechanical arm moving platform movement inertia is little, and mechanical precision is higher, can reduce the requirement to motor and control accuracy; The rigidity of structure is large, and bearing capacity is high, and work moving platform can carry the plurality of advantages such as complicated operating theater instruments, makes it more be adapted to the special environment of Minimally Invasive Surgery.
Utility model content
The purpose of this utility model, exactly in order to address the above problem, provides a kind of mixed-coupled five-freedom micro-wound surgical operation mechanical arm.
In order to achieve the above object, this utility model has adopted following technical scheme: a kind of mixed-coupled five-freedom micro-wound surgical operation mechanical arm, comprises main fixed platform, initiatively platform, upset fixed platform and the moving platform of working; Between main fixed platform and active platform, connect and compose the first closed loop 3-freedom parallel mechanism by three the first identical movement branched chain of structure, between upset fixed platform and work moving platform, connect and compose the second closed loop 3-freedom parallel mechanism by three the second identical movement branched chain of structure; And work moving platform is inlaid in the centre bore of active platform, in the second closed loop 3-freedom parallel mechanism is enclosed in by the first closed loop 3-freedom parallel mechanism; Initiatively between platform and upset silent flatform, be fixedly linked by three root posts, two closed loop 3-freedom parallel mechanisms are connected into mixed-coupled five-freedom micro-wound surgical operation mechanical arm.
The first even interval of movement branched chain that described three structures are identical circumferentially distributes, and each the first movement branched chain comprises respectively the first drive motors, master arm, the first Universal linking lever, passive arm, the second Universal linking lever and is fixedly connected with piece; The first drive motors is arranged on main fixed platform, master arm is connected with the first drive motors transmission, the first Universal linking lever is connected to the front end of master arm, being fixedly connected with piece is arranged on active platform, the second Universal linking lever is connected to and is fixedly connected with on piece, passive arm totally two be connected between the first Universal linking lever and the second Universal linking lever.
The second identical movement branched chain of described three structures is equilateral triangle and distributes, each the second movement branched chain comprises respectively the second drive motors, linear drives bar, spherical plain bearing rod end and moving slider, the second drive motors is arranged on upset fixed platform, linear drives bar is connected with the second drive motors transmission, spherical plain bearing rod end is arranged on linear drives bar lower end, and moving slider is connected to the front end of spherical plain bearing rod end and is inlaid in the chute of work moving platform.
Described the first drive motors is rotation DC servo motor or motor, and three motors are equilateral triangle and distribute.
Described the second drive motors is linear stepping motor, and three linear stepping motors are equilateral triangle and distribute.
The chute of described work moving platform extends and outwards connects along the diameter line of work moving platform, and the axes intersect of three chutes is in the center of work moving platform.
This utility model is provided with six drive motors, can be operating theater instruments five degree of freedom are provided, and comprises three space one-movement-freedom-degrees, and except two rotational freedoms of apparatus around the rotation of self axle, and have a redundancy one-movement-freedom-degree.
The beneficial effects of the utility model are, dexterously two 3-freedom parallel mechanism combinations are used, many defects that serial mechanism exists are overcome, mechanical arm work moving platform has five independence and freedom degree, a redundancy one-movement-freedom-degree, processing and manufacturing cost is low, can reach apparatus required all attitudes in operation; Wherein redundancy one-movement-freedom-degree can improve the motility of micro-wound surgical operation mechanical arm, improve the reliability of mechanical arm, thereby in operation, can make the accurate work of apparatus short distance enter, realize slight touching tissue, pull the small surgical action such as tissue, more accurately focus be operated; There is higher bearing capacity and larger agile work space; Stable configuration, platform capacity is large, is applicable to carrying multiple operating theater instruments; Owing to adopting parallel institution, the mechanical precision of structure own is high, requires lower to motor and control accuracy; There is high mechanism rigidity, movement inertia is little, the advantage that cumulative error is little, and this hybrid mechanism can be realized multi-direction mobile decoupling, rigidity and bearing capacity etc. are all better than serial mechanism, and the multiple freedom parallel mechanism theory analysis that is coupled succinct, assemble convenient, easily control; This mechanism has the good feature of motion isotropism degree in work space, and without unusual pose, dynamic response is good, power stable drive; Comprehensive These characteristics, mechanical arm of the present utility model is suitable for auxiliary doctor and completes high accuracy, highly difficult micro-wound surgical operation.
Briefly, the utlity model has following advantage:
One, in Constrained situation, there is larger flexibility ratio, and respectively good to motion same sex degree;
Two, mechanical arm moving platform movement inertia is little, and mechanical precision is higher, can reduce the requirement to motor and control accuracy;
Three, the rigidity of structure is large, and bearing capacity is high, and work platforms can carry the plurality of advantages such as complicated operating theater instruments, makes it more be adapted to the special environment of Minimally Invasive Surgery.
Accompanying drawing explanation
Fig. 1 is population structure schematic diagram of the present utility model;
Fig. 2 is the second closed loop 3-freedom parallel mechanism structural representation in this utility model.
The specific embodiment
Referring to Fig. 1, coordinate referring to Fig. 2, mixed-coupled five-freedom micro-wound surgical operation mechanical arm of the present utility model, comprises main fixed platform 1, initiatively platform 10, upset fixed platform 8 and the moving platform 13 of working.Between main fixed platform 1 and active platform 10, connect and compose the first closed loop 3-freedom parallel mechanism by three the first identical movement branched chain of structure, between upset fixed platform 8 and work moving platform 13, connect and compose the second closed loop 3-freedom parallel mechanism by three the second identical movement branched chain of structure; And work moving platform is inlaid in the centre bore of active platform, in the second closed loop 3-freedom parallel mechanism is enclosed in by the first closed loop 3-freedom parallel mechanism; Initiatively between platform and upset silent flatform, be fixedly linked by three root posts 11, two closed loop 3-freedom parallel mechanisms are connected into mixed-coupled five-freedom micro-wound surgical operation mechanical arm.
The first identical even interval of movement branched chain of three structures in this utility model circumferentially distributes, and each the first movement branched chain comprises respectively the first drive motors 2, master arm 3, the first Universal linking lever 4, passive arm 5, the second Universal linking lever (not indicating in figure) and is fixedly connected with piece 14; The first drive motors 2 is arranged on main fixed platform 1, master arm 3 is connected with the first drive motors 2 transmissions, the first Universal linking lever 4 is connected to the front end of master arm 3, being fixedly connected with piece 14 is arranged on active platform 10, the second Universal linking lever is connected to and is fixedly connected with on piece 14, passive arm 5 totally two be connected between the first Universal linking lever and the second Universal linking lever.Above-mentioned the first drive motors is rotation DC servo motor or motor, and three motors are equilateral triangle and distribute.
The second identical movement branched chain of three structures in this utility model is equilateral triangle and distributes, each the second movement branched chain comprises respectively the second drive motors 7, linear drives bar 6, spherical plain bearing rod end 9 and moving slider 12, the second drive motors 7 is arranged on upset fixed platform 8, linear drives bar 6 is connected with the second drive motors 7 transmissions, spherical plain bearing rod end 9 is arranged on linear drives bar 6 lower ends, and moving slider 12 is connected to the front end of spherical plain bearing rod end 9 and is inlaid in the chute of work moving platform 13.Above-mentioned the second drive motors is linear stepping motor, and three linear stepping motors are equilateral triangle and distribute.
The chute of above-mentioned work moving platform extends and outwards connects along the diameter line of work moving platform, and the axes intersect of three chutes is in the center of work moving platform.
The center of work moving platform is used for installing micro-wound surgical operation apparatus, and the three dimensions that the angle that changes three master arms and main fixed platform by three the first drive motors when work is realized work moving platform moves; Thereby the elongation that changes three linear drives bars by three the second drive motors is realized flip-flop movement and the short distance work of work moving platform and is entered movement.Thereby in operation, can make the accurate work of apparatus short distance enter, realize slight touching tissue, pull the small surgical action such as tissue, more accurately focus be operated.
Claims (6)
1. a mixed-coupled five-freedom micro-wound surgical operation mechanical arm, is characterized in that: comprise main fixed platform, initiatively platform, upset fixed platform and the moving platform of working; Between main fixed platform and active platform, connect and compose the first closed loop 3-freedom parallel mechanism by three the first identical movement branched chain of structure, between upset fixed platform and work moving platform, connect and compose the second closed loop 3-freedom parallel mechanism by three the second identical movement branched chain of structure; And work moving platform is inlaid in the centre bore of active platform, in the second closed loop 3-freedom parallel mechanism is enclosed in by the first closed loop 3-freedom parallel mechanism; Initiatively between platform and upset silent flatform, be fixedly linked by three root posts, two closed loop 3-freedom parallel mechanisms are connected into mixed-coupled five-freedom micro-wound surgical operation mechanical arm.
2. mixed-coupled five-freedom micro-wound surgical operation mechanical arm according to claim 1, it is characterized in that: the first even interval of movement branched chain that described three structures are identical circumferentially distributes, and each the first movement branched chain comprises respectively the first drive motors, master arm, the first Universal linking lever, passive arm, the second Universal linking lever and is fixedly connected with piece; The first drive motors is arranged on main fixed platform, master arm is connected with the first drive motors transmission, the first Universal linking lever is connected to the front end of master arm, being fixedly connected with piece is arranged on active platform, the second Universal linking lever is connected to and is fixedly connected with on piece, passive arm totally two be connected between the first Universal linking lever and the second Universal linking lever.
3. mixed-coupled five-freedom micro-wound surgical operation mechanical arm according to claim 1, it is characterized in that: the second identical movement branched chain of described three structures is equilateral triangle and distributes, each the second movement branched chain comprises respectively the second drive motors, linear drives bar, spherical plain bearing rod end and moving slider, the second drive motors is arranged on upset fixed platform, linear drives bar is connected with the second drive motors transmission, spherical plain bearing rod end is arranged on linear drives bar lower end, and moving slider is connected to the front end of spherical plain bearing rod end and is inlaid in the chute of work moving platform.
4. mixed-coupled five-freedom micro-wound surgical operation mechanical arm according to claim 2, is characterized in that: described the first drive motors is rotation DC servo motor or motor, and three motors are equilateral triangle and distribute.
5. mixed-coupled five-freedom micro-wound surgical operation mechanical arm according to claim 3, is characterized in that: described the second drive motors is linear stepping motor, and three linear stepping motors are equilateral triangle and distribute.
6. mixed-coupled five-freedom micro-wound surgical operation mechanical arm according to claim 3, is characterized in that: the chute of described work moving platform extends and outwards connects along the diameter line of work moving platform, and the axes intersect of three chutes is in the center of work moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320732915.2U CN203619682U (en) | 2013-11-19 | 2013-11-19 | Series-parallel minimally invasive surgery mechanical arm with five freedom degrees |
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| CN201320732915.2U CN203619682U (en) | 2013-11-19 | 2013-11-19 | Series-parallel minimally invasive surgery mechanical arm with five freedom degrees |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057442A (en) * | 2014-06-10 | 2014-09-24 | 上海交通大学 | Series-parallel robot with five degrees of freedom |
| CN104337579A (en) * | 2014-10-28 | 2015-02-11 | 浙江理工大学 | Novel series-parallel mechanical hand for minimally invasive operation |
| CN104398303A (en) * | 2014-10-28 | 2015-03-11 | 浙江理工大学 | Parallel serial mechanical arm used for minimally invasive surgery |
| CN104644267B (en) * | 2013-11-19 | 2016-10-05 | 上海理工大学 | Mixed-coupled five-freedom micro-wound surgical operation mechanical arm |
| CN106963160A (en) * | 2017-04-28 | 2017-07-21 | 歌尔股份有限公司 | A kind of four-freedom hybrid motion platform and dynamic simulating device |
| CN110918546A (en) * | 2019-12-06 | 2020-03-27 | 雷亮亮 | High-efficient rinsing device of industrial chemicals |
| CN113086173A (en) * | 2021-05-12 | 2021-07-09 | 复旦大学 | Multi-functional unmanned aerial vehicle undercarriage and unmanned aerial vehicle |
| CN113116519A (en) * | 2021-04-26 | 2021-07-16 | 武汉联影智融医疗科技有限公司 | Force feedback main manipulator and puncture surgical robot system |
| CN114952800A (en) * | 2022-06-30 | 2022-08-30 | 华中科技大学 | Series-parallel mechanical operating arm based on ball joint driving |
-
2013
- 2013-11-19 CN CN201320732915.2U patent/CN203619682U/en not_active Withdrawn - After Issue
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104644267B (en) * | 2013-11-19 | 2016-10-05 | 上海理工大学 | Mixed-coupled five-freedom micro-wound surgical operation mechanical arm |
| CN104057442B (en) * | 2014-06-10 | 2016-02-10 | 上海交通大学 | Series parallel robot in five degrees of freedom |
| CN104057442A (en) * | 2014-06-10 | 2014-09-24 | 上海交通大学 | Series-parallel robot with five degrees of freedom |
| CN104398303A (en) * | 2014-10-28 | 2015-03-11 | 浙江理工大学 | Parallel serial mechanical arm used for minimally invasive surgery |
| CN104337579B (en) * | 2014-10-28 | 2016-08-17 | 浙江理工大学 | A kind of series-parallel connection manipulator for Minimally Invasive Surgery |
| CN104398303B (en) * | 2014-10-28 | 2016-09-07 | 浙江理工大学 | A kind of series-parallel connection manipulator for Minimally Invasive Surgery |
| CN104337579A (en) * | 2014-10-28 | 2015-02-11 | 浙江理工大学 | Novel series-parallel mechanical hand for minimally invasive operation |
| CN106963160A (en) * | 2017-04-28 | 2017-07-21 | 歌尔股份有限公司 | A kind of four-freedom hybrid motion platform and dynamic simulating device |
| CN106963160B (en) * | 2017-04-28 | 2019-11-15 | 歌尔股份有限公司 | A kind of four-freedom hybrid motion platform and dynamic simulating device |
| CN110918546A (en) * | 2019-12-06 | 2020-03-27 | 雷亮亮 | High-efficient rinsing device of industrial chemicals |
| CN113116519A (en) * | 2021-04-26 | 2021-07-16 | 武汉联影智融医疗科技有限公司 | Force feedback main manipulator and puncture surgical robot system |
| CN113116519B (en) * | 2021-04-26 | 2022-09-20 | 武汉联影智融医疗科技有限公司 | Force feedback main manipulator and puncture surgical robot system |
| CN113086173A (en) * | 2021-05-12 | 2021-07-09 | 复旦大学 | Multi-functional unmanned aerial vehicle undercarriage and unmanned aerial vehicle |
| CN114952800A (en) * | 2022-06-30 | 2022-08-30 | 华中科技大学 | Series-parallel mechanical operating arm based on ball joint driving |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20140604 Effective date of abandoning: 20161005 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |