CN206167036U - Linear drive's parallelly connected surgery robot - Google Patents
Linear drive's parallelly connected surgery robot Download PDFInfo
- Publication number
- CN206167036U CN206167036U CN201620807944.4U CN201620807944U CN206167036U CN 206167036 U CN206167036 U CN 206167036U CN 201620807944 U CN201620807944 U CN 201620807944U CN 206167036 U CN206167036 U CN 206167036U
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- CN
- China
- Prior art keywords
- branch
- revolute pair
- auxiliary shaft
- shaft line
- turns auxiliary
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model relates to a linear drive's parallelly connected surgery robot. The purpose is that the robot that provides should have the characteristics that the precision is high. Technical scheme is: a linear drive's parallelly connected surgery robot, this robot of includes ring shape base, moves platform, operation instrument and three branch, first branch in the three branch is the same with the second branch structure, all, first revolute pair vice including removing, second revolute pair, first connecting rod, third revolute pair, second connecting rod and fourth revolute pair, third branch is vice including removing, first revolute pair, second revolute pair, first connecting rod, third revolute pair and second connecting rod, in every branch, first revolute pair axis is of each other parallel and perpendicular to second revolute pair axis with third revolute pair axis, fourth revolute pair axis in the first branch and the fourth revolute pair axis in the second branch coaxial and first revolute pair axis of perpendicular to and third revolute pair axis, still with all three branches in second revolute pair axis intersect in a fixed point.
Description
Technical field
This utility model is related to a kind of robot for Minimally Invasive Surgery, specifically a kind of parallel manipulator of Linear Driving
People.
Background technology
In open surgery for a long time, surgeon is constantly patient's " manufacture wound " using scalpel, then
Means are taken to heal as much as possible the wound again, this often makes patient in the face of stricken, uneasy during operation.How to reduce
Operation wound and amount of bleeding, reduction operation risk and complication, shortening become the direction of surgery development recovery time.In this back of the body
Under scape, the minimally invasive surgery with peritoneoscope as representative is born, and obtains fast development in nearly 30 years.Minimally Invasive Surgery is using elongated
Shaft-like operation tool probe into what is be operated in vivo by the miniature incision of human body surface.With traditional open surgery phase
Than it can reduce operative incision and operative scar, shorten recovery time, reduces amount of bleeding and complication etc..
It is " a kind of series-parallel connection mechanical hand for Minimally Invasive Surgery " disclosed in Chinese patent literature, " a kind of for Minimally Invasive Surgery
New-type mixed-coupled mechanical hand " robot, though minimally invasive surgery can be efficiently applied to, structure waits further simplification, precision need into
One step is improved, and cost also waits to decline；So that further improving.
Utility model content
The purpose of this utility model is to overcome the shortcomings of in above-mentioned background technology, there is provided a kind of operation in parallel of Linear Driving
Robot, the robot should have the characteristics of compact conformation, low control difficulty, high precision, good safety.
This utility model provide technical scheme be：A kind of operating robot in parallel of Linear Driving, it is characterised in that：Should
Robot includes annular base, moving platform, the operation tool being positioned on moving platform and is connected in base in parallel and moves flat
Three branches between platform；
The first branch in three branches is identical with the second branched structure, including being connected to moving platform and bottom in turn
Moving sets, the first rotation pair, the second rotation pair, first connecting rod, secondary the 3rd rotation, second connecting rod and the 4th rotation between seat
It is secondary；3rd branch include being connected in turn moving sets between moving platform and base, first rotate it is secondary, second rotate it is secondary, first
Connecting rod, the 3rd rotate secondary and second connecting rod；In each branch, the first turns auxiliary shaft line is parallel to each other with the 3rd turns auxiliary shaft line
And perpendicular to the second turns auxiliary shaft line；The 4th turns auxiliary shaft in the 4th turns auxiliary shaft line and the second branch in first branch
Line is coaxial and perpendicular to the first turns auxiliary shaft line and the 3rd turns auxiliary shaft line, also with all three branches in the second turns auxiliary shaft
Line intersects at a fixing point.
The first turns auxiliary shaft line intersects with the second turns auxiliary shaft line.
The operation tool is rotatably positioned on moving platform, and pivot center rotates pair and overlaps with the 4th, by fixation
Servomotor on moving platform drives.
The beneficial effects of the utility model are：The robot for being provided compared with existing operating robot in parallel, first
Rotate between secondary and the second rotation is secondary and adopt without connecting rodization design, make robot architecture simpler more compact；Due to increased handss
The degree of freedom of art instrument, and then the motility of operation is increased, making the operation technique of complexity becomes simple and safe, and operation precision is more
Height, cost is greatly reduced, and controls simple.Therefore, this utility model is important for the popularization and application of Minimally Invasive Surgery has
Meaning.
Description of the drawings
Fig. 1 is the dimensional structure diagram of this utility model embodiment.
Fig. 2 is the first branch and the second branched structure schematic diagram in this utility model embodiment.
Fig. 3 is the schematic diagram of the 3rd branch in this utility model embodiment.
Fig. 4 is the enlarged drawing in this utility model embodiment at operation tool point of penetration.
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.
As shown in figure 1, a kind of operating robot in parallel of Linear Driving, including annular base 1, moving platform 13, operation
Instrument 2 and three branches.
Three branches are connected between base and moving platform by the way of being connected in parallel；Wherein the first branch
It is identical with the structure of the second branch, rotate secondary 4, second including the moving sets 3, first being connected between moving platform and base successively
Rotate secondary 5, first connecting rod the 6, the 3rd and rotate the secondary 7, rotation of second connecting rod 8 and the 4th secondary 9；3rd branch and the area of other branches
It is not not the presence of the 4th rotation pair in branch.
In first branch and the second branch, first rotate secondary 4 axis it is parallel to each other with secondary 7 axis of the 3rd rotation and
Secondary 5 axis and secondary 9 axis of the 4th rotation are rotated perpendicular to second；In 3rd branch, first rotates secondary 4 axis and the 3rd rotates
Secondary 7 axis are parallel to each other and rotate secondary 5 axis perpendicular to second.
The 4th secondary 9 axis co-axial of rotation in first branch and the second branch and with three branches in all the
Two rotate secondary 5 axis intersects at a fixing point O simultaneously.
Obviously, the mobile secondary axis in each branch rotates secondary 4 axis and is parallel to each other with first；First turns auxiliary shaft line with
Second turns auxiliary shaft line is intersecting and is mutually perpendicular to, and functions as a universal hinge.
The operation tool is positioned on moving platform, can be rotated relative to moving platform, pivot center and the 4th turn
Dynamic secondary axis overlaps, and is driven by the servomotor being fixed on moving platform.
The moving sets 3 drive ball-screw (omitting in figure) to drive by servomotor.
The servomotor 10 is fixed on moving platform 13 by motor rack 11.
As shown in figure 4, the incision site of human body is placed with stamp card 14, operation tool is stretched in vivo through after stamp card.The operation
Instrument has 4 degree of freedom under four Motor drives, including two rotations around incision site O, along operation tool axis
The movement in direction and the rotation of operation tool.
Finally it should be noted that above example is merely to illustrate the technical solution of the utility model rather than it is limited
System；Specific embodiment of the present utility model is modified or some technical characteristics are replaced on an equal basis, without deviating from
Any scheme of technical solutions of the utility model spirit, it all should cover in the middle of the scope being claimed in this utility model.
Claims (4)
1. the operating robot in parallel of a kind of Linear Driving, it is characterised in that：The robot includes annular base (1), moves flat
Platform (13), the operation tool (2) being positioned on moving platform and three branches being connected in parallel between base and moving platform；
The first branch in three branches is identical with the second branched structure, including be connected in turn moving platform and base it
Between moving sets (3), first rotate secondary (4), second rotate secondary (5), first connecting rod (6), the 3rd rotate secondary (7), second connecting rod
And the 4th rotates secondary (9) (8)；3rd branch includes that the moving sets being connected in turn between moving platform and base, first rotate
Secondary, the second rotation pair, first connecting rod, the 3rd rotate secondary and second connecting rod；In each branch, the first turns auxiliary shaft line and the 3rd
Turns auxiliary shaft line is parallel to each other and perpendicular to the second turns auxiliary shaft line；The 4th turns auxiliary shaft line in first branch and second point
The 4th turns auxiliary shaft line in is coaxial and perpendicular to the first turns auxiliary shaft line and the 3rd turns auxiliary shaft line, also with all three points
The second turns auxiliary shaft line in intersects at a fixing point (O).
2. the operating robot in parallel of Linear Driving according to claim 1, it is characterised in that：First turns auxiliary shaft
Line intersects with the second turns auxiliary shaft line.
3. the operating robot in parallel of Linear Driving according to claim 2, it is characterised in that：The operation tool can turn
It is positioned at dynamicly on moving platform, pivot center rotates pair and overlaps with the 4th.
4. the operating robot in parallel of Linear Driving according to claim 3, it is characterised in that：The operation tool passes through
The servomotor (10) being fixed on moving platform drives.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620807944.4U CN206167036U (en) | 2016-07-27 | 2016-07-27 | Linear drive's parallelly connected surgery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620807944.4U CN206167036U (en) | 2016-07-27 | 2016-07-27 | Linear drive's parallelly connected surgery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206167036U true CN206167036U (en) | 2017-05-17 |
Family
ID=58674434
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620807944.4U Withdrawn - After Issue CN206167036U (en) | 2016-07-27 | 2016-07-27 | Linear drive's parallelly connected surgery robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206167036U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106037936A (en) * | 2016-07-27 | 2016-10-26 | 浙江理工大学 | Linear driven parallel surgical robot |
| CN107363809A (en) * | 2017-07-17 | 2017-11-21 | 清华大学 | A kind of parallel micro-wound operation robot of four-degree-of-freedom |
-
2016
- 2016-07-27 CN CN201620807944.4U patent/CN206167036U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106037936A (en) * | 2016-07-27 | 2016-10-26 | 浙江理工大学 | Linear driven parallel surgical robot |
| CN106037936B (en) * | 2016-07-27 | 2018-05-22 | 浙江理工大学 | A kind of operating robot in parallel of Linear Driving |
| CN107363809A (en) * | 2017-07-17 | 2017-11-21 | 清华大学 | A kind of parallel micro-wound operation robot of four-degree-of-freedom |
| CN107363809B (en) * | 2017-07-17 | 2020-02-21 | 清华大学 | Four-degree-of-freedom parallel minimally invasive surgery robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170517 Effective date of abandoning: 20180522 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20170517 Effective date of abandoning: 20180522 |