CN205964160U - Four degree of freedom series -parallel connection formula minimal access surgery manipulators - Google Patents
Four degree of freedom series -parallel connection formula minimal access surgery manipulators Download PDFInfo
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- CN205964160U CN205964160U CN201620563973.0U CN201620563973U CN205964160U CN 205964160 U CN205964160 U CN 205964160U CN 201620563973 U CN201620563973 U CN 201620563973U CN 205964160 U CN205964160 U CN 205964160U
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- branch
- auxiliary shaft
- base
- shaft line
- moving platform
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Abstract
The utility model relates to a four degree of freedom series -parallel connection formula minimal access surgery manipulators. The purpose is that the manipulator that provides should have that compact structure, volume are less, the characteristics of reliable operation. Technical scheme is: a four degree of freedom series -parallel connection formula minimal access surgery manipulators which characterized in that: this manipulator is including rotationally the operation module on the platform is moved to the location, base and the parallel connection who is located below moving the platform is moving two branch in order to drive the motion of operation module between platform and the base.
Description
Technical field
This utility model is related to a kind of robot, and specifically a kind of four-freedom hybrid declines invasive procedures mechanical hand.
Background technology
Minimally Invasive Surgery is had the advantage that compared with traditional operation of cutting open the chest：Otch is little, damages light, safely and effectively, permissible
Internal organs are avoided to expose in atmosphere to reduce infection；The postoperative misery of patient can be reduced, patients ' recovery is very fast and can be
Postoperative recovery normal activity in a short time, therapeutic effect is equal to or higher than traditional surgery method；Postoperative wound compares conventional surgical
Operation is attractive in appearance, and after healing, cicatrix is little.And with continuous application in clinical operation for the Minimally Invasive Surgery and development, there is higher operation
The micro-wound operation robot of precision and simple operation also arises at the historic moment.Computer Motion company of the U.S. grinds within 1994
Having made First and having assisted endoscope's automatic station-keeping system of Minimally Invasive Surgery is AESOP robot, and it adopts cascaded structure；1998
Release ZEUS Minimally Invasive Surgery operation robot, this system adopts master-slave operation technology；Da Vinci system development success in 2000
And becoming, through U.S. FDA approval, the first legal commercialization operating robot allowing in Clinical practice in July then, it is
Warp for clinic and obtains good effect.
There is now similar configuration micro-wound operation robot utility model issued patents (as CN104644267A,
CN104323861A, CN203619682U), have that operating robot volume is larger, complex structure, control loaded down with trivial details, costly,
The problems such as be also subject to more limitation in popularization and application, so propose a kind of compact conformation, easy and simple to handle, low-cost new
Series parallel type mechanism is necessary.
Utility model content
The purpose of this utility model is to overcome the shortcomings of in above-mentioned background technology, provides a kind of series-parallel connection for Minimally Invasive Surgery
Mechanical hand, this mechanical hand should have the characteristics that compact conformation, small volume, reliable operation.
The technical solution of the utility model is：A kind of four-freedom hybrid decline invasive procedures mechanical hand it is characterised in that：Should
Surgical modules that mechanical hand includes being rotatably positioned on moving platform, it is located at the base below moving platform and is connected in parallel dynamic
To drive the Liang Ge branch of surgical modules motion between platform and base；
The first rotation pair that each branch described includes being connected in turn between moving platform and base, first connecting rod,
Second rotates pair, second connecting rod, the hinged set of cylindrical pair and the third connecting rod as cylindrical pair slide bar；Each branch
In, the first turns auxiliary shaft line and the second turns auxiliary shaft line parallel to each other and revolve perpendicular to surgical modules pivot center and cylindrical pair
Shaft axis；Two cylindrical pair rotation axiss in Liang Ge branch are all intersected at a point with surgical modules pivot center；
Or, the first rotation that each branch described includes being connected in turn between moving platform and base is secondary, first
Connecting rod, the second rotation pair, the fourth link as moving sets slide bar, the 5th connecting rod as moving sets sliding sleeve and the 3rd rotation
Secondary；In each branch, the first turns auxiliary shaft line is parallel to each other with the second turns auxiliary shaft line and turns perpendicular to surgical modules
Shaft line, mobile secondary axis and the 3rd turns auxiliary shaft line, mobile secondary axis is also perpendicularly to the 3rd turns auxiliary shaft line；Liang Ge branch machine
Two the 3rd turns auxiliary shaft lines, surgical modules pivot centers in structure intersect at a point.
Described surgical modules include being rotatably positioned on moving platform and stretch into the operation tool below base and use
Motor in drive surgical tools rotation；The pivot center of described motor is surgical modules pivot center.
Described motor is fixed on above moving platform by support.
The beneficial effects of the utility model are：
This utility model adopts the hybrid mechanism of compact conformation, not only can ensure higher rigidity, and it is accumulative to move
Error is less than serial mechanism, can improve operation precision；This utility model can drive surgical modules neatly to move around otch,
The requirement of Minimally Invasive Surgery not only can be met, and the injury to otch can be reduced, safety is higher；This utility model also may be used
Sham operated utensil as teaching, training；Therefore, this utility model has weight for the further genralrlization improving Minimally Invasive Surgery
Want meaning.
Brief description
Fig. 1 is the perspective view of this utility model embodiment one.
Fig. 2 is the schematic diagram of a branch in this utility model embodiment one.
Fig. 3 is the perspective view of this utility model embodiment two.
Fig. 4 is the schematic diagram of a branch in this utility model embodiment two.
Fig. 5 is the schematic diagram of utility model works mode.
Specific embodiment
Below in conjunction with Figure of description, the utility model is described in further detail, but this utility model be not limited to
Lower embodiment.
Embodiment one
As shown in figure 1, a kind of series-parallel connection mechanical hand for Minimally Invasive Surgery, including moving platform 3, base 5, surgical modules and
Drive surgical modules Liang Ge branch.
Described surgical modules are rotatably positioned on moving platform, including operation tool 4 and for drive surgical tools
The motor 41 of rotation, operation tool is rotatably positioned on moving platform by sleeve 40；Described operation tool is generally peritoneoscope
Apparatus (refers specifically to incision knife, elastic separating plier, irrigator, endoscope)；Described motor is fixed on moving platform by support 42, and
The pivot center of motor is surgical modules pivot center, meanwhile, the pivot center of motor and the length-wise axis of operation tool
Coaxial；Described base is the arc-shaped base below moving platform, and partly enclosing in the middle part of base is passed through downwards in the lower end of operation tool
Stretch into below base after closing region 51.
Described two branches are connected in parallel between moving platform and base, for driving surgical modules to move；Each
Branch is four-degree-of-freedom mechanical arm, secondary including the first rotation being connected in turn from top to bottom between moving platform and base
21st, first connecting rod 11, second rotates secondary 22, second connecting rod 12, (hinged set in cylindrical pair and slide bar keep cylindrical pair 28 simultaneously
Hinged and be slidably matched, hinge axes are consistent with glide direction) and the third connecting rod 14 as cylindrical pair slide bar.
In each branch, the first turns auxiliary shaft line and the second turns auxiliary shaft line parallel to each other and perpendicular to operation mould
Block pivot center and cylindrical pair rotation axiss (cylindrical pair rotation axiss and cylindrical pair slip axis co-axial)；Described third connecting rod is solid
It is scheduled on base.
In described cylindrical pair, it is fixed on the hinged sleeve of second connecting rod lower end not only rotatable but also be slidably located in the 3rd
On connecting rod (third connecting rod is as the slide bar of this hinged sleeve)；All cylindrical pair axes intersect of Liang Ge branch are in O point (O
Point represent operation when human body on incision site, i.e. fixing point), surgical modules pivot center pass through O point, operation tool also by
O point.
Embodiment two
As shown in figure 1, a kind of series-parallel connection mechanical hand for Minimally Invasive Surgery, including moving platform 3, base 5, surgical modules and
Drive surgical modules Liang Ge branch.
Described surgical modules are rotatably positioned on moving platform, including operation tool 4 and for drive surgical tools
The motor 41 of rotation, operation tool is rotatably positioned on moving platform by sleeve (in figure omission)；Described operation tool is general
For laparoscopic instrument (referring specifically to incision knife, elastic separating plier, irrigator, endoscope)；Described motor is fixed on dynamic flat by support 42
On platform, and the pivot center of motor is surgical modules pivot center, meanwhile, the pivot center of motor and the length of operation tool
Azimuth axis are coaxial；Described base is the arc-shaped base below moving platform, and the lower end of operation tool is passed through downwards in base
Portion partly enclose region 51 after stretch into below base.
Described two branches are connected in parallel between base and surgical modules, for driving surgical modules to move；Often
Individual branch is four-degree-of-freedom mechanical arm, including the first rotation being connected in turn from top to bottom between moving platform and base
Secondary 21, first connecting rod 11, second rotates secondary 22, moving sets 29 and the 3rd and rotates secondary 23.
In each branch, the first turns auxiliary shaft line and the second turns auxiliary shaft line parallel to each other and perpendicular to operation mould
Block pivot center, mobile secondary axis and the 3rd turns auxiliary shaft line, mobile secondary axis is also perpendicularly to the 3rd turns auxiliary shaft line.
In described moving sets, fourth link 15 is slidably located in that in the 5th connecting rod 13, (fourth link is as moving sets
Slide bar and the 5th connecting rod as moving sets sliding sleeve；Or, fourth link is as the sliding sleeve of moving sets and the 5th connecting rod
Slide bar as moving sets)；All 3rd turns auxiliary shaft lines of Liang Ge branch intersect at O point, and (O point represents human body during operation
On incision site, i.e. aforementioned fixing point), surgical modules pivot center pass through O point, operation tool is also by O point.
In above-described embodiment, cylindrical pair or sliding pair and all pairs that rotates are driven by servomotor (in figure omission).
As shown in figure 5, the incision site 7 of human body is placed with puncture casing 6 (English Trocar), operation tool passes through and punctures set
Stretch in human body after pipe；This operation tool is moved under the driving of Liang Ge branch, including using incision site as initial point
The swing of (i.e. aforesaid fixing point) and the stretching motion along operation tool axis direction, operation tool also can be in electricity simultaneously
Machine drives lower rotation.
Claims (3)
1. a kind of four-freedom hybrid decline invasive procedures mechanical hand it is characterised in that：This mechanical hand includes being rotatably positioned dynamic
Surgical modules on platform (3), it is located at the base (5) below moving platform and is connected in parallel between moving platform and base to drive
The Liang Ge branch of block motion of having an operation；
Each branch described includes the first rotation secondary (21), the first connecting rod being connected in turn between moving platform and base
(11), second rotate secondary (22), second connecting rod (12), the hinged set of cylindrical pair (28) and connect as the 3rd of cylindrical pair slide bar
Bar (13)；In each branch, the first turns auxiliary shaft line and the second turns auxiliary shaft line parallel to each other and perpendicular to operation mould
Block pivot center and cylindrical pair rotation axiss；Two cylindrical pair rotation axiss in Liang Ge branch and surgical modules rotary shaft
Line all intersects at a point；
Or, the first rotation secondary (21) that each branch described includes being connected in turn between moving platform and base, first
Connecting rod (11), second rotate secondary (22), the fourth link (15) as moving sets (29) slide bar, as the 5th of moving sets sliding sleeve
Connecting rod (13) and the 3rd rotates secondary (23)；In each branch, the first turns auxiliary shaft line is mutual with the second turns auxiliary shaft line
Parallel and perpendicular to surgical modules pivot center, mobile secondary axis and the 3rd turns auxiliary shaft line, movement secondary axis is also perpendicularly to
3rd turns auxiliary shaft line；Two the 3rd turns auxiliary shaft lines in Liang Ge branch and surgical modules pivot center all intersect at one
Point.
2. Minimally Invasive Surgery mechanical hand according to claim 1 it is characterised in that：Described surgical modules include rotationally fixed
The operation tool (4) below base and the motor (41) for drive surgical tools rotation and are stretched on moving platform in position；Institute
The pivot center stating motor is surgical modules pivot center.
3. Minimally Invasive Surgery mechanical hand according to claim 2 it is characterised in that：Described motor is fixed on by support (42)
Above moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620563973.0U CN205964160U (en) | 2016-06-12 | 2016-06-12 | Four degree of freedom series -parallel connection formula minimal access surgery manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620563973.0U CN205964160U (en) | 2016-06-12 | 2016-06-12 | Four degree of freedom series -parallel connection formula minimal access surgery manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205964160U true CN205964160U (en) | 2017-02-22 |
Family
ID=58020926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620563973.0U Withdrawn - After Issue CN205964160U (en) | 2016-06-12 | 2016-06-12 | Four degree of freedom series -parallel connection formula minimal access surgery manipulators |
Country Status (1)
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| CN (1) | CN205964160U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105997251A (en) * | 2016-06-12 | 2016-10-12 | 浙江理工大学 | Four-freedom-degree series-parallel minimally invasive surgery manipulator |
-
2016
- 2016-06-12 CN CN201620563973.0U patent/CN205964160U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105997251A (en) * | 2016-06-12 | 2016-10-12 | 浙江理工大学 | Four-freedom-degree series-parallel minimally invasive surgery manipulator |
| CN105997251B (en) * | 2016-06-12 | 2018-11-20 | 浙江理工大学 | A kind of four-freedom hybrid declines invasive procedures manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170222 Effective date of abandoning: 20181120 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20170222 Effective date of abandoning: 20181120 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |