CN205795799U - A kind of assisted minimally invasive surgical operation robot mechanical arm - Google Patents

Abstract

The open a kind of assisted minimally invasive surgical operation robot mechanical arm of this utility model, it includes connecting seat I, connecting rod II, the axis of connecting rod II and connecting rod III, connecting rod IV and the parallel lines composition parallelogram OPQR being connected seat VIII axis.Under motor I drives, axle II drive link III rotates around P point, axle IV drive link IV rotates around Q point, axle VI drive connection seat VIII rotates around R point, and mechanical arm does " parallelogram " oscillating motion at the axis of connecting rod II centered by fixing point O point in the plane of connecting rod III, connecting rod IV and the parallel lines composition being connected seat VIII axis.Under motor II drives, connecting rod II is around self axial rotation, and mechanical arm axis around connecting rod II centered by fixing point O point does oscillating motion.This utility model device has that transmission is accurate, range of movement is big, system stiffness is big, length in service life, profile are succinct, miniaturization, light-weighted advantage.

Description

A kind of assisted minimally invasive surgical operation robot mechanical arm

Technical field

This utility model relates to the armarium in a kind of micro-wound surgical operation field, and it can clamp operation tool auxiliary Doctor implements Minimally Invasive Surgery operation, particularly relates to the assisting minimally invasive of a kind of Minimally Invasive Surgery operation being suitable for thoracic cavity and abdominal cavity The robot arm of operation.

Background technology

Minimally invasive surgery with laparoscopic surgery as representative is described as 20th century medical science significant contribution to human civilization One of, Minimally Invasive Surgery operation refer to doctor utilize elongated operation tool by the miniature incision of human body surface be insinuated into internal enter Row operation technique.It has compared with traditional open surgery, and operative incision is little, amount of bleeding is few, scar after the operation is little, recovery time The advantage such as fast, this misery that patient is suffered greatly reduces；It is widely used in clinical operation for this minimally invasive surgery.Wicresoft Operation can bring many interests for patient, but the operation to doctor adds a series of difficulty, such as: 1) due to body surface insertion hole Restriction, the degree of freedom of instrument reduces to four, and motility is substantially reduced；2) the intuition direction phase of instrumentation direction and doctor Instead, inaccurate coordination；3) shake of doctor's hand may be amplified by elongated operation tool；4) visual area is two dimensional surface imaging, Lack the sensation in the degree of depth；5) force feeling is lacked.Therefore, doctor has to pass through prolonged exercise and can carry out Minimally Invasive Surgery behaviour Making, nonetheless, current Minimally Invasive Surgery is the most only applied only to operate among relatively simple operation process.Therefore, micro- Wound surgical field assists doctor can overcome drawbacks described above in the urgent need to a kind of robot system, it is easier to complete Minimally Invasive Surgery operates.At present, it is possible to the minimally invasive surgical operation robot system used clinically only have Da Vinci series and Zeus system, but they shortcomings of having the aspect such as bulky, expensive.Miniaturization and low cost micro-wound operation robot System is future developing trend.This utility model provides one, and transmission is accurate, reliability is high, range of movement is big, system stiffness Greatly, the profile of length in service life is succinct, miniaturization, light-weighted assisted minimally invasive surgical operation robot mechanical arm.

At present, robot realizes, for the active mechanical arm section clamping operation tool, the mode that Minimally Invasive Surgery operation requires Mainly have three kinds: 1) control joint linkage realization, after which by carrying out relevant improvement to traditional industrial robot, install Operation tool carries out Minimally Invasive Surgery operation, can shorten the construction cycle of robot.But, the safety of this mode is poor, The most only use the feasibility verifying some principle in the lab.2) adding passive joint, the advantage of this mode is elongated Operation tool can be automatically to adapt to the change in location of point of penetration it is considered to be safest a kind of mode.But, operation process The active force that tissue around middle body surface otch can be transmitted by operation tool, control accuracy is the most poor.3) pact of mechanism itself Bundle, this mode is can to clamp the special machine robot mechanism realization that operation tool move around body surface otch by developing some , conventional mainly has arc-shaped guide rail and double parallel-crank mechanism.Use the robot system of the method exploitation of arc-shaped guide rail Take volume big, the defect of the aspects such as motion coupling；Double parallel-crank mechanisms have that structure is simplified, volume is little, lightweight Etc. the advantage of aspect, be a kind of mode being most widely used at present, but processing and the assembling of system be proposed very by it High requirement, owing to each connecting rod precision in the longitudinal direction of parallelogram is difficult to ensure that, therefore strong influence machine The kinematic accuracy of device people and rigidity.

The mechanical arm power transmission structure being applied to micro-wound surgical operation at present is mainly silk transmission, due to the bullet of steel wire rope Property, make steel wire rope easily stretchable under pull strength effect, after using a period of time, silk gearing friction power reduces or lost efficacy, and loses transmission Function.

Utility model content

The purpose of this utility model is to overcome the deficiencies in the prior art, it is provided that a kind of transmission is accurate, reliability is high, motion Scope is big, system stiffness is big, the profile of length in service life succinct, miniaturization, light-weighted assisted minimally invasive surgical operation robot Mechanical arm, it can clamp operation tool auxiliary doctor implement Minimally Invasive Surgery operation, this system disclosure satisfy that operation tool is at hands All the time insert the requirement of hole motion around body surface during art.

This utility model provides one, and transmission is accurate, reliability is high, range of movement is big, system stiffness is big, service life Long profile is succinct, miniaturization, light-weighted assisted minimally invasive surgical operation robot mechanical arm, and concrete scheme is as follows:

A kind of assisted minimally invasive surgical operation robot mechanical arm, including the arm I being sequentially connected with, arm II, arm III；Arm I's Free end is provided with two drivings motor I, II, and the free end at arm III connects one for the connection seat connecting operation tool VIII, described arm I are parallel with the axis of arm III, arm II with by connecting the axis of seat VIII and parallel with the axis of arm II Straight line parallel, four constitute " parallelogram " structure；Arm I drives " parallelogram " under the driving driving motor I Structure swings；Arm I drive motor II driving under drive whole mechanical arm with " parallelogram " in arm I, be connected seat Centered by the point that VIII cross point is relative, the axis around arm I does oscillating motion.

Further, described arm I includes that connecting rod II, axle II, described connecting rod II are fixed on connection seat I, axle II mono- End is driven it to rotate by motor I, and the other end drives the axle III perpendicular with it to rotate by a pair gear；Top at axle III Being provided with connection seat IV, bottom is installed and is connected seat III, described connection seat IV under the driving of axle III relative to connecting seat III Rotate；Described connecting rod II rotates under the driving driving motor II, and connecting rod II fixes connection with being connected seat III.

Further, described arm II includes that connecting rod III and axle IV, described axle III are by a pair gear drive shaft IV Rotating, the end of axle IV drives the axle V perpendicular with it to rotate further through a pair gear, is provided with connection seat at the top of axle V V, bottom is installed and is connected seat VI, described connection seat VI under the driving of axle V relative to connecting seat V rotation；Described connecting rod III Connection is fixed with being connected seat IV in one end；The other end fixes connection with being connected seat V.

Further, described arm III includes that connecting rod IV and axle VI, described axle V are revolved by a pair gear drive shaft VI Turning, the end of axle VI drives the axle VII perpendicular with it to rotate further through a pair gear；At the top of axle VII, connection is installed Seat VIII, bottom is installed and is connected seat VII, described connection seat VIII under the driving of axle VII relative to connecting seat VII rotation； Connection is fixed with being connected seat VI in described connecting rod IV one end；The other end fixes connection with being connected seat VII.

Further, described connection seat VIII connects a quick union, installs operation on described quick union Instrument.

Further, described motor II is rotated by a pair gear drive link II；Driving motor II outfan Geared end fixes an electricity loss brake I, prevents under powering-off state, and mechanical arm is centered by fixing point O point, around described company The axis of bar II does oscillating motion.

Further, described mechanical arm also includes an electricity loss brake II, and it is fixed on described axle VII and institute On the connection seat VII stated, prevent under powering-off state mechanical arm centered by fixing point O point, described connecting rod II axis with The parallel lines of the axis of described connecting rod III, the parallel lines of axis of described connecting rod IV and the axle of described connection seat VII I " parallelogram " oscillating motion is done in the plane that the parallel lines of line are constituted.

Further, described connecting rod II, connecting rod III, the length relation of connecting rod IV should meet: make connecting rod III rotate During to parallel with connecting rod II axis angle, connect seat V and connect seat VI the most not be connected seat I and interfere；Connecting rod IV rotates To during with the angle of connecting rod III " axis is parallel ", connect seat VII and connect seat VIII the most not with is connected seat III and connection seat IV Interfere.

Further, described connecting rod III and connecting rod IV can swing to the both sides of connecting rod II, makes connecting rod IV rotate to connecting rod The parallel lines of the axis of II and " intersection point " of connecting rod IV axis are positioned at " " intersection point " and axle VI and the axle VII " intersection point " of axle VI and axle V Between " line segment " on position and there is not " interference " in mechanical arm self structure.

Further, described motor I, motor II can also replace with hydraulic motor or air motor.

Work process of the present utility model is as follows:

The described axis of connecting rod II, the parallel lines of the axis of connecting rod III, described connecting rod IV axis parallel lines and The parallel lines of the axis of described connection seat VIII constitute a parallelogram OPQR, and described fixing point O point is described The intersection point of the parallel lines of the axis of the axis of connecting rod II and described connection seat VIII.It is fixed on described connection seat VIII On the axis of operation tool by fixing point O point.

Motor I drive under, connecting rod II with is connected seat I geo-stationary, axle II drive link III around P point rotation while axle IV is relative to connecting rod III rotation, and axle IV drive link IV rotates axle VI simultaneously around Q point and drives relative to connecting rod IV rotation, axle VI Connecting seat VIII to rotate around R point, mechanical arm is centered by fixing point O point, at axis and the described connecting rod of described connecting rod I I The parallel lines of the axis of the parallel lines of the axis of III, the parallel lines of axis of described connecting rod IV and described connection seat VII I " parallelogram " oscillating motion is done in the plane constituted.

Under motor II drives, connecting rod II is relative to connecting seat I rotation, and mechanical arm is centered by fixing point O point, around described The axis of connecting rod II do oscillating motion.

Coordinating under driving at motor I and motor II, operation tool can be made to do ball shape rotary motion around fixing point O point. By making this fixing point O point " overlap " with the point of penetration at body operation position, mechanical arm positioning operation work safely can be passed through Tool, and human body stomach wall is not applied dangerous active force.

Of the present utility model compared with prior art have for assisted minimally invasive surgical operation robot mechanical arm following have Benefit effect:

1. transmission is accurate, reliability is high, fortune by using gear-driven form to make mechanism have for this utility model device Dynamic scope is big, system stiffness big, length in service life, profile succinct, miniaturization, light-weighted advantage；This utility model device has There is the range of movement of bigger operation tool, reduce the size of mechanical arm, alleviate its weight.

2. this utility model device realizes point of penetration constraint during micro-wound surgical operation by the constraint of mechanism self Requirement, meets operation tool and inserts the requirement of hole motion in operation process all the time around body surface, do not introduce redundant degree of freedom, can With by mechanical arm positioning operation instrument safely, and human body stomach wall is not applied dangerous active force, it is ensured that in use Safety；

3. this utility model device has the advantage of the double parallel-crank mechanisms being applied, but overcomes double flat Row quadrangular mechanism requires this shortcoming harsh to process and assemble, thus advantageously ensures that the kinematic accuracy of robot and system are firm Degree；

4. transmission is accurate, reliability is high, make by using gear-driven form to make mechanism have for this utility model device Advantage by life-span length；Overcome a kind of drive due to the elasticity of steel wire rope, make steel wire rope easily stretchable under pull strength effect, After using a period of time, silk gearing friction power reduces or lost efficacy, and loses the defect of the function of transmission；

5. this utility model device application is towards thoracic cavity and the micro-wound surgical operation in field, abdominal cavity, other neck oriented The potentiality that the operation in the fields such as territory such as otorhinolaryngology is expanded；

6. this utility model device is insinuated into disease at a distance by the arm section clamping operation tool of " parallelogram " layout Carrying out Minimally Invasive Surgery operation above the person, this structure can be greatly saved robot and take the space above patient body；

7. this utility model device can be with the multiple supporting operational tool of quick-replaceable, it is possible to fully meet Minimally Invasive Surgery behaviour Make multifarious requirement.

8. this utility model device can clamp Endoscope-assisted Minimally Invasive Surgery operation, can will hold mirror doctor from dullness, Tired holding in mirror work frees.

Accompanying drawing explanation

In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, the accompanying drawing in describing below differs Fixed is proportionally only to be illustratively described this utility model, and drawings discussed below is only some in this utility model Embodiment, is not to limit this utility model, for those of ordinary skill in the art, before not paying creative work Put, it is also possible to obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is that the main TV structure of the embodiment one of this utility model a kind of assisted minimally invasive surgical operation robot mechanical arm shows It is intended to.

Fig. 2 is that the plan structure of the embodiment one of this utility model a kind of assisted minimally invasive surgical operation robot mechanical arm is shown It is intended to.

Fig. 3 is the reality meeting operation technique demand of this utility model a kind of assisted minimally invasive surgical operation robot mechanical arm Execute extreme position one schematic diagram of example one.

Fig. 4 is the reality meeting operation technique demand of this utility model a kind of assisted minimally invasive surgical operation robot mechanical arm Execute extreme position two schematic diagram of example one.

Fig. 5 is that the main TV structure of the embodiment two of this utility model a kind of assisted minimally invasive surgical operation robot mechanical arm shows It is intended to.

Fig. 6 is that the plan structure of the embodiment two of this utility model a kind of assisted minimally invasive surgical operation robot mechanical arm is shown It is intended to.

Fig. 7 is the reality meeting operation technique demand of this utility model a kind of assisted minimally invasive surgical operation robot mechanical arm Execute extreme position one schematic diagram of example two.

Fig. 8 is the reality meeting operation technique demand of this utility model a kind of assisted minimally invasive surgical operation robot mechanical arm Execute extreme position two schematic diagram of example two.

Detailed description of the invention

Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out Clear, complete description, it is clear that described embodiment is only a part of embodiment of the present utility model rather than all Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not making creative work premise Lower obtained every other embodiment, broadly falls into the scope of this utility model protection.

Embodiment 1

As shown in Figure 1 and Figure 2, this utility model provides that a kind of transmission is accurate, reliability is high, range of movement is big, system is firm Degree is big, the profile of length in service life is succinct, miniaturization, light-weighted assisted minimally invasive surgical operation robot mechanical arm.It includes The arm I2 that is sequentially connected with, arm II4, arm III6；It is connected by attachment means 3 between arm I2 and arm II4；Arm II4 and arm III6 it Between be connected by attachment means 5, the free end at arm I2 is provided with driving means 1, specifically includes two drivings motor I 1-1, II 1-2, the free end at arm III6 connects one for the attachment means 7 connecting operation tool, described arm I and the axle of arm III Line is parallel, arm II with by connecting the axis of seat VIII and the straight line parallel parallel with the axis of arm II, four constitute " parallel Tetragon " structure；Arm I drives " parallelogram " structure to swing under the driving driving motor I；Arm I is driving motor II's Drive lower drive whole mechanical arm in " parallelogram " with arm I, connect the point that seat VIII cross point is relative centered by, around arm The axis of I does oscillating motion.

Wherein arm I includes connecting rod II, axle II；Arm II includes connecting rod III and axle IV；Described arm III include connecting rod IV and Axle VI；Annexation concrete between all parts and position relationship are as follows:

Described motor I1-1 is fixed on described connection seat II2-1, and described connection seat II1-9 installs fixing On described gear I1-5, described gear I1-5 is fixed on described connecting rod II2-1.Described decelerator I1-3 Being fixed on described connection seat II1-9, described motor I1-1 is connected with described decelerator I1-3, described electricity Machine I1-1 outputs power to the described decelerator I1-3 described in decelerator I1-3 driving and rotates, described decelerator I1-3's Outfan is connected by connector is fixing with described axle II2-2, and described decelerator I1-3 outputs power to described axle Axle II2-2 described in II2-2 driving rotates, and described axle II2-2 is coordinated also with described connecting rod II2-1 by bearing and end cap Axial restraint, described axle II2-2 can be relative to described connecting rod II2-1 around own axis.

Further, described motor II1-2 is fixed on described connection seat I1, described decelerator II1-4 Being fixed on described connection seat I1, described motor II1-2 is connected with decelerator II1-4, described motor II1-2 Outputing power to the described decelerator II1-4 described in decelerator II1-4 driving rotate, described decelerator II1-4's is defeated Going out end to be connected by connector is fixing with described gear II1-6, described decelerator II1-4 outputs power to described tooth Gear II1-6 described in wheel II1-6 driving rotates, and described gear II1-6 coordinates with described gear I1-5, described gear II1-6 outputs power to the described gear I1-5 described in gear I1-5 driving and rotates, and described gear I1-5 installs fixing On described connecting rod II2-1, described gear I1-5 outputs power to the described connecting rod described in connecting rod II2-1 driving II2-1 rotates.Described connecting rod II2-1 is coordinated with described connection seat I1 and axial restraint by bearing and end cap, described Connecting rod II2-1 can be relative to described connection seat I1 around own axis.

Further, described connecting rod II2-1 and described connection seat III3-1 are fixing to be connected, described axle II2-2 with Described gear III3-4 is fixing to be connected, and described axle II2-2 outputs power to described in described gear III3-4 driving Gear III3-4 rotates, and described gear III3-4 coordinates with described gear IV3-5, and described gear III3-4 is defeated by power Going out and rotate to the gear IV3-5 described in described gear IV3-5 driving, described gear IV3-5 is fixed on described axle On III3-3, described gear IV3-5 outputs power to the described axle III3-3 described in axle III3-3 driving and rotates.Described Axle III3-3 coordinate also axial restraint with described connection seat III3-1 by bearing and end cap, described axle III3-3 is permissible Relative to described connection seat III3-1 around own axis.Described axle III3-3 fixes with described connection seat IV3-2 Connecting, described axle III3-3 outputs power to the described connection seat IV3-2 described in connection seat IV3-2 driving and rotates.Institute The connection seat IV3-2 stated is coordinated with described connection seat III3-1 and axial restraint by bearing and end cap, described connection seat IV3-2 can be relative to described connection seat III3-1 around own axis.Described connection seat IV3-2 and described connecting rod III4-1 is fixing to be connected.Described gear V3-6 is fixed on described connection seat III3-1, and described axle III3-3 can With relative to described gear V3-6 around own axis.Described gear V3-6 coordinates with described gear VI3-7, described Gear V3-6 output power to described gear VI3-7 drive described in gear VI3-7 rotate, described gear VI3-7 Being fixed on described axle IV4-2, described gear VI3-7 outputs power to described in described axle IV4-2 driving Axle IV4-2 rotates.Described axle IV4-2 is coordinated with described connecting rod III4-1 and axial restraint by bearing and end cap, described Axle IV4-2 can be relative to described connecting rod III4-1 around own axis.

Described connecting rod III4-1 and described connection seat V5-1 is fixing to be connected, described axle IV4-2 and described gear VII5-4 is fixing to be connected, and described axle IV4-2 outputs power to the described gear VII5-4 described in gear VII5-4 driving Rotating, described gear VII5-4 coordinates with described gear VIII5-5, and described gear VII5-4 outputs power to described Gear VIII5-5 drive described in gear VIII5-5 rotate, described gear VIII5-5 is fixed on described axle V5- On 3, described gear VIII5-5 outputs power to the described axle V5-3 described in axle V5-3 driving and rotates.Described axle V5- 3 are coordinated with described connection seat V5-1 and axial restraint by bearing and end cap, and described axle V5-3 can be relative to described Connect seat V5-1 around own axis.Described axle V5-3 and described connection seat VI5-2 is fixing to be connected, described axle V5-3 Output power to the described connection seat VI5-2 described in connection seat VI5-2 driving rotate.Described connection seat VI5-2 passes through Bearing and end cap coordinate with described connection seat V5-1 and axial restraint, and described connection seat VI5-2 can be relative to described Connect seat V5-1 around own axis.Described connection seat VI5-2 and described connecting rod IV6-1 is fixing to be connected.Described tooth Wheel IX5-6 is fixed on described connection seat V5-1, and described axle V5-3 can be relative to described gear IX5-6 around certainly Body axis rotates.Described gear IX5-6 coordinates with described gear X5-7, and described gear IX5-6 outputs power to institute The gear X5-7 described in gear X5-7 driving stated rotates, and described gear X5-7 is fixed on described axle VI6-2, institute The gear X5-7 stated outputs power to the described axle VI6-2 described in axle VI6-2 driving and rotates.Described axle VI6-2 passes through Bearing and end cap coordinate with described connecting rod IV6-1 and axial restraint, and described axle VI6-2 can be relative to described connecting rod IV6-1 is around own axis.

Described connecting rod IV6-1 and described connection seat VII7-1 is fixing to be connected, described axle VI6-2 and described gear XI7-4 is fixing to be connected, and described axle VI6-1 outputs power to the described gear XI7-4 rotation described in gear XI7-4 driving Turning, described gear XI7-4 coordinates with described gear XII7-5, and described gear XI7-4 outputs power to described tooth Gear XII7-5 described in wheel XII7-5 driving rotates, and described gear XII7-5 is fixed on described axle VII7-3, Described gear XII7-5 outputs power to the described axle VII7-3 described in axle VII7-3 driving and rotates.Described axle VII7-3 is coordinated with described connection seat VII7-1 and axial restraint by bearing and end cap, and described axle VII7-3 can be relative In described connection seat VII7-1 around own axis.Described axle VII7-3 and described connection seat VIII7-2 is fixing even Connecing, described axle VII7-3 outputs power to the described connection seat VIII7-2 described in connection seat VIII7-2 driving and rotates. Described connection seat VIII7-2 is coordinated with described connection seat VII7-1 and axial restraint by bearing and end cap, described company Joint chair VIII7-2 can be relative to described connection seat VII7-1 around own axis.Hydraulic quick coupler I is fixed on described Connection seat VIII7-2 on, operation tool is fixed on described hydraulic quick coupler I.

Described electricity loss brake I1-11 is fixed on described gear II1-6 with on described connection seat I1, prevents Only under powering-off state, mechanical arm is centered by fixing point O point, and the axis around described connecting rod II2-1 does oscillating motion.Described Electricity loss brake II7-9 is fixed on described axle VII7-3 with on described connection seat VII7-1, prevents powering-off state Lower mechanical arm is centered by fixing point O point, at axis flat of axis and the described connecting rod III4-1 of described connecting rod II2-1 It is flat that the parallel lines of the axis of line, the parallel lines of axis of described connecting rod IV6-1 and described connection seat VIII7-2 are constituted " parallelogram " oscillating motion is done in face.

Work process of the present utility model is as follows:

The described axis of connecting rod II2-1, the parallel lines of the axis of connecting rod III4-1, the axis of described connecting rod IV6-1 Parallel lines and the parallel lines of axis of described connection seat VIII7-2 constitute a parallelogram OPQR, described fixing Point O point is the axis intersection point with the parallel lines of the axis of described connection seat VIII7-2 of described connecting rod II2-1.Install solid The axis of the operation tool being scheduled on described connection seat VIII7-2 passes through fixing point O point.

Motor I1-1 drive under, connecting rod II2-1 be connected seat I1 geo-stationary, axle II2-1 drive link III4-1 is around P Point rotates axle IV4-2 simultaneously and rotates axle VI6-simultaneously relative to connecting rod III4-1 rotation, axle IV4-2 drive link IV6-1 around Q point 2 relative to connecting rod IV6-1 rotation, and axle VI6-2 drive connection seat VIII7-2 rotates around R point, during mechanical arm with fixing point O point is The heart, at axis and the parallel lines of axis of described connecting rod III4-1 of described connecting rod II2-1, described connecting rod IV6-1 Do " parallelogram " in the plane that the parallel lines of the parallel lines of axis and the axis of described connection seat VIII7-2 are constituted to swing Motion.

Under motor II1-2 drives, connecting rod II2-1 is relative to connecting seat I1 rotation, during mechanical arm with fixing point O point is The heart, the axis around described connecting rod II2-1 does oscillating motion.

Coordinating under driving at motor I1-1 and motor II1-2, operation tool can be made to do ball shape rotary around fixing point O point Motion.By making this fixing point O point " overlap " with the point of penetration at body operation position, hands can be positioned safely by mechanical arm Art instrument, and human body stomach wall is not applied dangerous active force.

As the further improvement of such scheme, described driving means can be motor, hydraulic motor or air motor.

A kind of assisted minimally invasive surgical operation robot mechanical arm that the utility model proposes can be changed to additionally below one Plant example structure, mechanical arm can be made to obtain bigger slewing area, to meet operation technique requirement more broadly, cleverer Adapt to different application scenarios alively, such as Fig. 5 and Fig. 6, specific as follows:

Embodiment 2

On the basis of the technical scheme of embodiment one, connecting rod IV6-1 and connecting rod II2-1 is separately mounted to connecting rod " both sides " of III4-1, the length relation that connecting rod II2-1, connecting rod III4-1, connecting rod IV6-1 design is suitable, make connecting rod III4-1 When rotating to the angle with connecting rod II2-1 " axis is parallel ", connect seat V5-1 and connect seat VI5-2 the most not with is connected seat I1 generation " interfere "；When connecting rod IV6-1 rotates to the angle with connecting rod III4-1 " axis is parallel ", connect seat VII7-1 and connect seat VIII7-2 the most not be connected seat III3-1 and connect seat IV3-2 " interfere ".Connecting rod III4-1 can swing to connecting rod IV6-1 " both sides " (such as Fig. 7 view direction) of connecting rod II2-1, makes connecting rod IV6-1 rotate to axis and the connecting rod IV6-1 of connecting rod II2-1 Position between line segment QR 2 of " intersection point " of parallel lines of axis and there is not " interference " in mechanical arm self structure, from And make mechanical arm obtain bigger slewing area, to meet operation technique requirement more broadly, adapt to different for greater flexibility Application scenario.

The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this In the spirit of utility model and principle, any modification, equivalent substitution and improvement etc. made, should be included in of the present utility model In protection domain.

Although detailed description of the invention of the present utility model is described by the above-mentioned accompanying drawing that combines, but not new to this practicality The restriction of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability Field technique personnel need not to pay various amendments or deformation that creative work can make still at protection model of the present utility model Within enclosing.

Claims (10)

1. an assisted minimally invasive surgical operation robot mechanical arm, it is characterised in that: the arm I that includes being sequentially connected with, arm II, arm III；Free end at arm I is provided with two drivings motor I, II, and the free end at arm III connects one and is used for connecting operation tool Connection seat VIII, described arm I parallel with the axis of arm III, arm II and by connect seat VIII axis and with arm II's The straight line parallel that axis is parallel, four constitute " parallelogram " structure；Arm I drives " parallel under the driving driving motor I Tetragon " structure swing；Arm I drive motor II driving under drive whole mechanical arm with " parallelogram " in arm I, company Centered by the point that joint chair VIII cross point is relative, the axis around arm I does oscillating motion.

2. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 1, it is characterised in that: described arm I includes Connecting rod II, axle II, described connecting rod II is fixed on connection seat I, and axle II one end is driven it to rotate by motor I, and the other end passes through A pair gear drives the axle III perpendicular with it to rotate；Be provided with connection seat IV at the top of axle III, bottom is installed and is connected seat III, described connection seat IV rotate relative to connection seat III under the driving of axle III；Described connecting rod II is driving motor II Driving under rotate, and connecting rod II with is connected seat III fix connection.

3. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 2, it is characterised in that: described motor II leads to Cross a pair gear drive link II to rotate；An electricity loss brake I is fixed in the geared end driving motor II outfan.

4. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 2, it is characterised in that: described arm II includes Connecting rod III and axle IV, described axle III are rotated by a pair gear drive shaft IV, and the end of axle IV drives further through a pair gear The dynamic axle V perpendicular with it rotates, and is provided with connection seat V at the top of axle V, and bottom is installed and connected seat VI, described connection seat VI rotates relative to connection seat V under the driving of axle V；Connection is fixed with being connected seat IV in described connecting rod III one end；The other end with Connect the fixing connection of seat V.

5. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 4, it is characterised in that: described arm III bag Including connecting rod IV and axle VI, described axle V to be rotated by a pair gear drive shaft VI, the end of axle VI drives further through a pair gear The axle VII perpendicular with it rotates；Be provided with connection seat VIII at the top of axle VII, bottom is installed and is connected seat VII, described Connect seat VIII under the driving of axle VII relative to connecting seat VII rotation；Described connecting rod IV one end is fixed even with being connected seat VI Connect；The other end fixes connection with being connected seat VII.

6. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 5, it is characterised in that: described mechanical arm is also Including an electricity loss brake II, it is fixed on described axle VII and on described connection seat VII.

7. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 5, it is characterised in that: described connection seat VIII connects a quick union, installs operation tool on described quick union.

8. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 5, it is characterised in that: described connecting rod II, Connecting rod III, the length relation of connecting rod IV should meet: when making connecting rod III rotate to the angle parallel with connecting rod II axis, connect Seat V and connect seat VI the most not be connected seat I and interfere；When connecting rod IV rotates to the angle with connecting rod III " axis is parallel ", even Joint chair VII and connect seat VIII the most not with is connected seat III and connect seat IV interference.

9. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 5, it is characterised in that: described connecting rod III With the both sides that connecting rod IV can swing to connecting rod II, connecting rod IV is made to rotate to parallel lines and the connecting rod IV axis of axis of connecting rod II " intersection point " be positioned at " position on " line segment " between " intersection point " of axle VI and axle V and axle VI and axle VII " intersection point " and mechanical arm from There is not " interference " in body structure.

10. assisted minimally invasive surgical operation robot mechanical arm as claimed in claim 1, it is characterised in that described motor I, Motor II can also replace with hydraulic motor or air motor.