CN205814425U - A kind of peritoneoscope micro-wound operation robot mechanical arm RCM mechanism - Google Patents
A kind of peritoneoscope micro-wound operation robot mechanical arm RCM mechanism Download PDFInfo
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- CN205814425U CN205814425U CN201620067902.1U CN201620067902U CN205814425U CN 205814425 U CN205814425 U CN 205814425U CN 201620067902 U CN201620067902 U CN 201620067902U CN 205814425 U CN205814425 U CN 205814425U
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Abstract
This utility model relates to a kind of new micro-wound operation robot mechanical arm RCM mechanism, including pedestal, camber member, rotation output mechanism, the first linear motion output mechanism, the second linear motion output mechanism, limiting component, operating theater instruments；One end of camber member is connected to pedestal by the first rotating shaft, rotating output mechanism be fixed on pedestal and drive camber member around the first axis of rotation, the first linear motion output mechanism is fixed on camber member and its movement output end is connected to the second linear motion output mechanism by the second rotating shaft；Limiting component is connected to the other end of camber member by the 3rd rotating shaft, and operating theater instruments is fixed on the movement output end of the second linear motion output mechanism and passes the spacing hole of limiting component.This utility model avoids double parallelogram RCM mechanism used by tradition Minimally Invasive Surgery mechanical arm for the high shortcoming of each Machining of Connecting Rod precision and matching requirements, simple in construction, good stability；Substantially reduce the power output requirement to associated freedom drive mechanism simultaneously.
Description
Technical field
This utility model belongs to robotics, relates to a kind of peritoneoscope micro-wound operation robot mechanical arm RCM machine
Structure.
Background technology
Remote operating minimally-invasive surgery robot system can assist a physician finer surgical action, when reducing operation by
Tremble the damage caused in tired or hand.Simultaneously surgical injury little, healing bring more preferably surgical outcome for patient soon.Mesh
Before, Leonardo da Vinci's minimally-invasive surgery robot system (da Vinci Surgery Robot System) of the U.S. is extensive in clinic
Application.Miniaturization and low cost minimally-invasive surgery robot system are following development trends, and tactile force feedback is outside Wicresoft simultaneously
Section's operation plays extremely important effect.
In peritoneoscope micro-wound operation robot technology, an extremely important key component is exactly in its distal movement
The heart (Remote Center of Motion is called for short RCM) mechanism.The effect of RCM mechanism is to provide a distal movement center
Point, this distal movement central point overlaps with Minimally Invasive Surgery otch, it can be ensured that in minimal invasive surgical procedures, operating theater instruments is with patient's
Operative incision is not pullled, it is ensured that operation safety.The micro-wound operation robot RCM mechanism of current main-stream is double flat row four limit
Shape mechanism, machining accuracy and the matching requirements of this RCM mechanism two bars each for its building block are the highest, and due to lever
The existence of effect, drives end load to drive the driving force of module to require higher for corresponding degree of freedom.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of peritoneoscope micro-wound operation robot mechanical arm RCM machine
Structure, concrete technical scheme is as follows:
A kind of peritoneoscope micro-wound operation robot mechanical arm RCM mechanism, including pedestal 1, camber member 2, rotates output mechanism
3, the first linear motion output mechanism the 4, second linear motion output mechanism 5, limiting component 6, operating theater instruments 7；
One end of described camber member 2 is connected to pedestal 1 by the first rotating shaft 8, rotates output mechanism 3 and is fixed on pedestal 1 also
Driving camber member 2 to rotate around the first rotating shaft 8, the first linear motion output mechanism 4 is fixed on camber member 2 and its movement output end
11 are connected to the second linear motion output mechanism 5 by the second rotating shaft 9；Limiting component 6 is connected to arch by the 3rd rotating shaft 10
The other end of part 2, operating theater instruments 7 is fixed on the movement output end 16 of the second linear motion output mechanism 5 and through limiting component 6
Spacing hole；First rotating shaft 8 axis the 14, the 3rd rotating shaft 10 axis 15 and operating theater instruments 7 axis 12 intersect in limiting component 6 one
Point 13, i.e. the RCM point of mechanical arm.
Further, described camber member 2 is abnormity connecting rod, including straight-bar portion 2-1 and two ends kink 2-2 and 2-3；Described base
Seat 1 is hinged on wherein one end kink 2-2 of camber member 2 by the first rotating shaft 8, and described limiting component 6 is by the 3rd rotating shaft 10
It is hinged on the other end kink 2-3 of camber member 2.
Further, described first linear motion output mechanism 4 and the second linear motion output mechanism 5 are correspondingly arranged on directly
Line moving component I and parts moving linearly II, described operating theater instruments 7 is arranged on parts moving linearly II, described linear motion
The external part of parts I is hinged on the second linear motion output mechanism 5 by the second rotating shaft 9.
Further, described rotation output mechanism 3 is hydraulic motor or air motor.
Further, described rotation output mechanism 3 is servomotor.
Further, decelerator and brake it are provided with between described servomotor and pedestal 1.
Further, described first linear motion output mechanism 4 and the second linear motion output mechanism 5 are electric cylinder or hydraulic pressure
Cylinder or pneumatic linear actuator or straight line slide unit.
The beneficial effects of the utility model are:
1) the double parallelogram RCM mechanism used by tradition Minimally Invasive Surgery mechanical arm is avoided for each Machining of Connecting Rod precision
And the shortcoming that matching requirements are high, simple in construction, good stability.
2) traditional double parallelogram RCM mechanism is due to the existence of leverage, drives end load for corresponding free
Degree drives the driving force of module to require higher, and end load weight of the present invention largely structure by mechanical arm itself is firm
Property undertakes, and substantially reduces the power output requirement to associated freedom drive mechanism.
3) this utility model simple in construction, relatively low for machining accuracy and matching requirements, not only reduce correlative link
The cost of joint puts into, and it is furthermore achieved that lightweight and the miniaturization of peritoneoscope micro-wound operation robot mechanical arm.
Accompanying drawing explanation
In order to make the purpose of this utility model, technical scheme and beneficial effect clearer, this utility model provides as follows
Accompanying drawing illustrates:
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the mechanical arm RCM mechanism motion schematic diagram around rotary shaft 8；
Fig. 3 is the operating theater instruments 7 motion schematic diagram around rotary shaft 10；
Fig. 4 is the schematic diagram that operating theater instruments 7 is moved along himself axis 12.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described in detail.
Fig. 1 is structural representation of the present utility model, as it is shown in figure 1, a kind of new Minimally Invasive Surgery machine of this utility model
People mechanical arm RCM mechanism, including pedestal 1, camber member 2, to rotate output mechanism 3, first output mechanism 4, second that moves along a straight line straight
Line movement output mechanism 5, limiting component 6, operating theater instruments 7；One end of camber member 2 is connected to pedestal 1 by the first rotating shaft 8, turns
Dynamic output mechanism 3 is fixed on pedestal 1 and drives camber member 2 to rotate around the first rotating shaft 8, and linear motion output mechanism 4 is fixed on bow
On shape part 2 and its movement output end 11 is connected to, by the second rotating shaft 9, the output mechanism 5 that moves along a straight line, limiting component 6 is by the 3rd
Rotating shaft 10 is connected to camber member 2 other end, and operating theater instruments 7 is fixed on the movement output end 16 of linear motion output mechanism 5 and wears
Cross the spacing hole of limiting component 6, the axis 15 of axis the 14, the 3rd rotating shaft 10 of the first rotating shaft 8 and axis 12 phase of operating theater instruments 7
Meet at the RCM point of limiting component 6 interior 1: 13, i.e. mechanical arm.
In the present embodiment, by rotating the driving effect of output mechanism 3, it is achieved mechanical arm is around the deflection of the first rotating shaft 8
Motion (as shown in Figure 2)；Driving effect by the first linear motion output mechanism 4, it is achieved operating theater instruments 7 is around the 3rd rotating shaft 10
Yaw motion (as shown in Figure 3)；Driving effect by the second linear motion output mechanism 5, it is achieved operating theater instruments 7 is along its axle
The motion (as shown in Figure 4) of line 12；Owing to the axis 12 of rotary shaft 8 axis 14, rotating shaft 10 axis 15 and operating theater instruments 7 intersects at
1: 13, in the motion of above three degree of freedom, point 13 is a fixed point, it is achieved that micro-wound operation robot mechanical arm
Distal movement central point (Remote Center ofMotion is called for short RCM) mechanism.
In the present embodiment, camber member 2 is abnormity connecting rod, including straight-bar portion 2-1 and two ends kink 2-2 and 2-3, described
Pedestal 1 is articulated with camber member 2 kink 2-2 by the first rotating shaft 8, and limiting component 6 is articulated with camber member 2 by the 3rd rotating shaft 10
Kink 2-3, described first linear motion output mechanism 4 drives the second linear motion output machine by its movement output end 11
Structure 5 moves around the second rotating shaft 9, and related operating theater instruments 7 is moved around the 3rd rotary shaft 10.Due to the first linear motion output mechanism 4
The structural rigidity of movement output end 11 self bear mechanical arm front end second and move along a straight line output mechanism 5 and operating theater instruments
The weight of 7, thus reduce the driving force requirement for the first linear motion output mechanism 4.
As the further improvement of such scheme, described rotation output mechanism 3 is hydraulic motor or air motor or servo
Motor, when using servomotor, can arrange decelerator and brake according to practical situation between pedestal 1 and rotation output mechanism 3,
To adapt to different applicable cases.In the present embodiment, rotate output mechanism 3 and use servomotor, reductor, brake to combine
Mode.
As the further improvement of such scheme, described first linear motion output mechanism 4 and the second linear motion output
Mechanism 5 is electric cylinder or hydraulic cylinder or pneumatic linear actuator or straight line slide unit, and in the present embodiment, the first linear motion output mechanism 4 uses
Electric cylinder, the second linear motion output mechanism 5 uses straight line slide unit, easy for installation, it is easy to regulation and control；Certainly, it is possible to according to reality
Service condition carries out the replacement of like product.
Finally illustrating, preferred embodiment above is only in order to illustrate the technical solution of the utility model and unrestricted, to the greatest extent
This utility model is described in detail by pipe by above preferred embodiment, but those skilled in the art should manage
Solve, in the form and details it can be made various change, without departing from this utility model claims institute
The scope limited.
Claims (7)
1. a peritoneoscope micro-wound operation robot mechanical arm RCM mechanism, it is characterised in that: include pedestal (1), camber member (2),
Rotate output mechanism (3), first linear motion output mechanism (4), second linear motion output mechanism (5), limiting component (6),
Operating theater instruments (7)；
One end of camber member (2) is connected to pedestal (1) by the first rotating shaft (8), rotates output mechanism (3) and is fixed on pedestal (1)
And driving camber member (2) to rotate around the first rotating shaft (8), the first linear motion output mechanism (4) is fixed on camber member (2) and it
Movement output end (11) is connected to the second linear motion output mechanism (5) by the second rotating shaft (9)；Limiting component (6) is by the
Three rotating shafts (10) are connected to the other end of camber member (2), and operating theater instruments (7) is fixed on the second linear motion output mechanism (5)
Movement output end (16) and the spacing hole through limiting component (6)；First rotating shaft (8) axis (14), the 3rd rotating shaft (10) axis
And operating theater instruments (7) axis (12) intersects at the RCM point of a bit (13), i.e. mechanical arm in limiting component (6) (15).
A kind of peritoneoscope the most according to claim 1 micro-wound operation robot mechanical arm RCM mechanism, it is characterised in that: institute
Stating camber member (2) is abnormity connecting rod, including straight-bar portion (2-1) and two ends kink (2-2,2-3)；Described pedestal (1) is by the
One rotating shaft (8) is hinged on wherein one end kink (2-2) of camber member (2), and described limiting component (6) passes through the 3rd rotating shaft (10)
It is hinged on the other end kink (2-3) of camber member (2).
A kind of peritoneoscope the most according to claim 1 micro-wound operation robot mechanical arm RCM mechanism, it is characterised in that: institute
State be correspondingly arranged on the first linear motion output mechanism (4) and the second linear motion output mechanism (5) parts moving linearly I with
Parts moving linearly II, described operating theater instruments (7) is arranged on parts moving linearly II, and described parts moving linearly I stretches out
End is hinged on the second linear motion output mechanism (5) by the second rotating shaft (9).
A kind of peritoneoscope the most according to claim 1 micro-wound operation robot mechanical arm RCM mechanism, it is characterised in that: institute
Stating rotation output mechanism (3) is hydraulic motor or air motor.
A kind of peritoneoscope the most according to claim 1 micro-wound operation robot mechanical arm RCM mechanism, it is characterised in that: institute
Stating rotation output mechanism (3) is servomotor.
A kind of peritoneoscope the most according to claim 5 micro-wound operation robot mechanical arm RCM mechanism, it is characterised in that: institute
State and be provided with decelerator and brake between servomotor and pedestal (1).
A kind of peritoneoscope the most according to claim 1 micro-wound operation robot mechanical arm RCM mechanism, it is characterised in that: institute
State the first linear motion output mechanism (4) and the second linear motion output mechanism (5) be electric cylinder or hydraulic cylinder or pneumatic linear actuator or
Straight line slide unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620067902.1U CN205814425U (en) | 2016-01-22 | 2016-01-22 | A kind of peritoneoscope micro-wound operation robot mechanical arm RCM mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620067902.1U CN205814425U (en) | 2016-01-22 | 2016-01-22 | A kind of peritoneoscope micro-wound operation robot mechanical arm RCM mechanism |
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| CN205814425U true CN205814425U (en) | 2016-12-21 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105832417A (en) * | 2016-01-22 | 2016-08-10 | 中国科学院重庆绿色智能技术研究院 | Novel manipulator RCM (remote center of motion) mechanism of minimally invasive surgery robot |
| CN108210077A (en) * | 2018-01-02 | 2018-06-29 | 廖容 | A kind of surgical instrument mounting assembly used in laparoscopic surgery |
| CN108210076A (en) * | 2018-01-02 | 2018-06-29 | 廖容 | A kind of surgical instrument positioning component used in laparoscopic surgery |
| CN111677833A (en) * | 2020-06-08 | 2020-09-18 | 浙江理工大学 | Power preposed wheel train type RCM mechanism |
-
2016
- 2016-01-22 CN CN201620067902.1U patent/CN205814425U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105832417A (en) * | 2016-01-22 | 2016-08-10 | 中国科学院重庆绿色智能技术研究院 | Novel manipulator RCM (remote center of motion) mechanism of minimally invasive surgery robot |
| CN105832417B (en) * | 2016-01-22 | 2018-10-30 | 中国科学院重庆绿色智能技术研究院 | A kind of micro-wound operation robot mechanical arm RCM mechanisms |
| CN108210077A (en) * | 2018-01-02 | 2018-06-29 | 廖容 | A kind of surgical instrument mounting assembly used in laparoscopic surgery |
| CN108210076A (en) * | 2018-01-02 | 2018-06-29 | 廖容 | A kind of surgical instrument positioning component used in laparoscopic surgery |
| CN108210077B (en) * | 2018-01-02 | 2019-03-01 | 王中良 | Surgical instrument mounting assembly used in a kind of laparoscopic surgery |
| CN111677833A (en) * | 2020-06-08 | 2020-09-18 | 浙江理工大学 | Power preposed wheel train type RCM mechanism |
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