CN206424149U - A kind of surgical operation robot containing arc prismatic pair - Google Patents
A kind of surgical operation robot containing arc prismatic pair Download PDFInfo
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- CN206424149U CN206424149U CN201621177663.1U CN201621177663U CN206424149U CN 206424149 U CN206424149 U CN 206424149U CN 201621177663 U CN201621177663 U CN 201621177663U CN 206424149 U CN206424149 U CN 206424149U
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Abstract
The utility model is related to a kind of surgical operation robot containing arc prismatic pair, it is characterized in that the robot includes fixed platform, line slideway, bottom motor, moving slide block, arc lower connecting rod, upper curved rod and end performs device, the line slideway is fixedly secured in fixed platform；The moving slide block can be moved along the axial direction of line slideway, and bottom motor is securely fitted on moving slide block, and output shaft and the arc lower connecting rod lower end of bottom motor coordinate, rotation of the driving arc lower connecting rod around bottom driving motor output shaft；Upper curved rod lower end is connected with arc lower connecting rod, upper end connection end performs device；The upper surface of the arc lower connecting rod is provided with elongated slot, and the upper end of arc lower connecting rod is provided with stage casing motor, and the output shaft of stage casing motor is connected with gear；The lower end of the upper curved rod is conformed with, and projection is engaged with the elongated slot of upper curved rod, upper curved rod and arc lower connecting rod concentric.
Description
Technical field
The utility model is related to medical surgery technique with the apparatus field, specially a kind of surgical operation containing arc prismatic pair
Robot.
Background technology
With the fast development of computer and microelectric technique and medical science, the Medical Robot of various uses is
Increasingly it is widely applied in medical domain.At present, the research of medical robot be concentrated mainly on surgical operation robot,
Several aspects such as healing robot, nursing robot and microrobot.In surgical operation, Minimally Invasive Surgery working space is small, but
It is required that robot is dexterousr, positioning precision is higher, conventional surgical operation robot is difficult to be competent at.Common surgery machine
People is mostly joint type cascaded structure, and this structure causes each arm to be influenceed seriously by gravity, so that cause robot can
It is relatively low by property, stability.
A kind of robotic surgical device that Zhang Ying such as Shenzhen Institutes of Advanced Technology, Chinese Academy of Science et al. is proposed
(CN201110401551.5), be typical case have 6DOF PRRR type serial manipulators, including an one-movement-freedom-degree and
Five rotary freedoms realize the motion in 3-dimensional space, so as to meet the operation technique requirement of virtual condition.
University Of Tianjin Wang Shu newly proposes a kind of secondary manipulator of surgery operation robot (CN200510013171.9).It is used
Plane-joint type structure, with the 8+1 free degree, wherein 2 frees degree of coarse adjustment mechanism, 7 frees degree of fine-tuning mechanism are realized
Robot end manipulator is quick, precise positioning, to meet actual operation requirement.
The Chinese patent of Application No. 201410282070.0 discloses a kind of surgical operation robot, and the robot has 7
The individual free degree, and the both direction rotation in joint is all realized using cylindrical pair, to meet actual operation operational requirements.
Patent No. ZL201210307007.9 patent of invention discloses a kind of with the outer of hybrid passive/active control
Robot of section, the robot has arc prismatic pair, and the arc prismatic pair is by a curved rod along the cunning on upright guide rail
Block is slided, and with 7 degree of freedom, there is provided for the manually operated and hybrid active-passive control operated of being navigated by programming
System.One of these frees degree allow robot can be by the axis movement effectively about patient body, so that in operating room
Surgical procedures provide enough working spaces.
The joint of these operating robots is mostly by the combination that R is secondary and P is secondary, to realize that it is multiple that it has in three dimensions
The free degree, because R is secondary and the secondary combinations of P, causes robot in motion process, the gravity of tail end connecting rod itself will be added to
On the connecting rod of the connection of fixed platform, very big motional inertia is produced, its kinematic accuracy is reduced.
Utility model content
In view of the shortcomings of the prior art, the technical problem that the utility model is intended to solve is：Propose a kind of containing arc movement
Secondary surgical operation robot, the robot architecture is simple, and motion is flexible, can be applied to medical surgical equipment, industrial machine
The fields such as people.
The utility model solves the technical scheme that the technical problem uses：Propose a kind of outer containing arc prismatic pair
Section's operating robot, it is characterised in that the robot include fixed platform, line slideway, bottom motor, moving slide block, under
Curved rod, upper curved rod and end performs device, the line slideway are fixedly secured in fixed platform；The motion is slided
Block can be moved along the axial direction of line slideway, and bottom motor is securely fitted on moving slide block, bottom motor
Output shaft and arc lower connecting rod lower end coordinate, rotation of the driving arc lower connecting rod around bottom driving motor output shaft；Upper arc
Shape connecting rod lower end is connected with arc lower connecting rod, upper end connection end performs device；
The upper surface of the arc lower connecting rod is provided with elongated slot, and the upper end of arc lower connecting rod is provided with stage casing motor,
The output shaft of stage casing motor is connected with gear；
The lower end of the upper curved rod is conformed with, and projection is engaged with the elongated slot of upper curved rod, upper curved rod
With arc lower connecting rod concentric, the side of upper curved rod is provided with tooth, and the tooth is engaged with the gear of arc lower connecting rod；Upper arc
The upper end of shape connecting rod is provided with support bar mounting hole and leading screw mounting hole, and support bar mounting hole site is in the side provided with tooth, leading screw peace
Hole position is filled in the side without tooth；
The end performs device includes end actuating motor, leading screw fixed plate, leading screw, driving sliding block and support bar, institute
The upper end that leading screw fixed plate lower end is stated with upper curved rod is fixedly connected, and end actuating motor is fixedly mounted on leading screw fixed plate
On, the output shaft of end actuating motor and one end of leading screw are connected, and the other end of leading screw is installed with the leading screw on upper curved rod
Hole is engaged, and is connected leading screw with upper curved rod by leading screw mounting hole；The driving sliding block coordinates with leading screw, support
Bar one end is arranged on driving sliding block, and the support bar other end is used for through the support bar mounting hole on upper curved rod, support bar
Moving platform is installed.
Compared with prior art, the beneficial effects of the utility model are：
The utility model is using two curved rods, and constituting an arc prismatic pair, it is substantially equivalent to curved rod
Center of arc around arc lower connecting rod rotates, and can reasonably be distributed the gravity of end performs device, and use
Less connecting rod is that can realize the motion of 4 frees degree in space, wherein 2 one-movement-freedom-degrees, 2 rotational freedoms.The machine
Device people can overcome influence of the gravity to joint, and with higher flexibility, forms of motion is relatively easy, ensure that simultaneously
Precision and quality in operation, meet the operation requirement of different situations, can preferably assist a physician and be performed the operation.
The surgical operation robot that the utility model contains arc prismatic pair is simple and reliable for structure, and assembling is easy, moving platform
Stable movement, can be prevented effectively from motion associated movement occur (described associated movement refer to parallel robot remove have name from
By spending outside the motion in direction, also there is restrained motion in other directions, the motion is referred to as associated movement), flexibility ratio is high,
Robot end's performs device any point in working space is respectively provided with the set of all possible posture, and driven nature, robust
Property, bearing capacity preferably, disclosure satisfy that the demand of surgical operation.
Brief description of the drawings
Fig. 1 is a kind of stereochemical structure signal for embodiment of surgical operation robot that the utility model contains arc prismatic pair
Figure；
Fig. 2 is a kind of stereochemical structure signal for embodiment of surgical operation robot that the utility model contains arc prismatic pair
Figure；
Fig. 3 is a kind of end performs device for embodiment of surgical operation robot that the utility model contains arc prismatic pair
Dimensional structure diagram；
Fig. 4 is a kind of embodiment arc lower connecting rod 6 of surgical operation robot that the utility model contains arc prismatic pair
Dimensional structure diagram；
Fig. 5 is curved rod 5 in a kind of embodiment of surgical operation robot that the utility model contains arc prismatic pair
Dimensional structure diagram；
In figure, 1 fixed platform, 2 line slideways, 3. bottom motors, 4. moving slide blocks, curved rod on 5., under 6.
Curved rod, 7. end actuating motors, 8. leading screw fixed plates, 9. leading screws, 10. driving sliding blocks, 11. support bars, 12. electric knifes, 13.
Stage casing motor, 14. gears, 15. elongated slots, 16. teeth, 17 support bar mounting holes, 18 projections, 19 leading screw mounting holes.
Embodiment
The utility model is described in detail with reference to embodiment and accompanying drawing, but not in this, as to the application claim
The restriction of protection domain.
The surgical operation robot (abbreviation robot, referring to Fig. 1-5) that the utility model contains arc prismatic pair includes solid
Fixed platform 1, line slideway 2, bottom motor 3, moving slide block 4, arc lower connecting rod 6, upper curved rod 5 and end perform dress
Put and (do not marked in figure), the line slideway 2 is fixedly secured in fixed platform 1；The moving slide block 4 is adopted with line slideway 2
Coordinated with the form of cylindrical pair, moving slide block 4 can be moved along the axial direction of line slideway 2, bottom motor 3 fixes dress
Fit on moving slide block 4, the output shaft of bottom motor 3 coordinates with the lower end of arc lower connecting rod 6, driving arc lower connecting rod 6 around
The rotation of the output shaft of bottom motor 3；The upper lower end of curved rod 5 is connected with arc lower connecting rod 6, and upper end connection end is performed
Device；
The upper surface of the arc lower connecting rod 6 (referring to Fig. 4) is provided with elongated slot 15, and the upper end of arc lower connecting rod 6 is provided with
Stage casing motor 13, the output shaft of stage casing motor 13 is connected with gear 14；
The lower end of the upper curved rod 5 (referring to Fig. 5) is conformed with 18, projection 18 and the phase of elongated slot 15 of upper curved rod
Coordinate, upper curved rod 5 and the concentric of arc lower connecting rod 6, the side of upper curved rod 5 is provided with tooth 16, the tooth 16 and lower arc
The gear 14 of shape connecting rod is engaged；The upper end of upper curved rod 5 is provided with support bar mounting hole 17 and leading screw mounting hole 19, support bar
Mounting hole 17 is located at the side provided with tooth 16, and leading screw mounting hole 19 is located at the side without tooth；
The end performs device (referring to Fig. 3) includes end actuating motor 7, leading screw fixed plate 8, leading screw 9, driving sliding block
10 and support bar 11, the lower end of leading screw fixed plate 8 is fixedly connected with the upper end of upper curved rod 5, and end actuating motor 7 is fixed
Installed in the upper of leading screw fixed plate 8, the output shaft of end actuating motor 7 is connected with one end of leading screw 9, the other end of leading screw 9 with
Leading screw mounting hole 19 on upper curved rod is engaged, and has been connected leading screw 9 with upper curved rod 5 by leading screw mounting hole 19
Come；The driving sliding block 10 coordinates with leading screw 9, and the one end of support bar 11 is arranged on driving sliding block 10, and the other end of support bar 11 is worn
The support bar mounting hole 17 crossed on curved rod, support bar 11 is used to install moving platform.
The utility model robot is mainly used in surgical operation, in use, fixed platform can be fixed on bed or
On similar medical care platform, moving platform, such as electric knife 12, needle, ultrasound knife are installed on support bar 11.
Operation principle and using method of the present utility model is：In use, moving slide block 4 can be along line slideway 2
Slide axially, so that drive bottom motor 3 to move, axle of the driving arc lower of bottom motor 3 connecting rod 6 around its output shaft
Line is rotated, and the drive gear 14 of stage casing motor 13 exports axis around it and rotated, and the tooth 16 of gear 14 and upper curved rod is mutually nibbled
Close, cause cambered surface of the curved rod 5 along arc lower connecting rod 6 to move；The driving leading screw 9 of end actuating motor 7 is rotated, and is driven and is driven
Axis of the movable slider 10 along leading screw 9 is moved, and support bar 11 and electric knife 12 (moving platform) are together as driving sliding block 10 is along silk
The axis movement of thick stick 9, so as to complete corresponding surgical action.
The utility model contains the surgical operation robot of arc prismatic pair, and with 4 frees degree, two of which is rotated certainly
By spending, two one-movement-freedom-degrees are specifically that moving slide block 4 does the translation of one degree of freedom along line slideway 2, and arc lower connects
Bar 6 does one degree of freedom rotation around bottom motor 3, and upper curved rod 5 does one degree of freedom edge along arc lower connecting rod 6
The movement of arcuate directions, it is substantially equivalent to curved rod 5 and rotated around the center of arc of arc lower connecting rod 6, driving
Sliding block 10 does one degree of freedom moving along leading screw axis direction along leading screw 9.Will with the operation for meeting various different situations
Ask.
The utility model does not address part and is applied to prior art.
Claims (2)
1. a kind of surgical operation robot containing arc prismatic pair, it is characterised in that the robot includes fixed platform, straight line
Guide rail, bottom motor, moving slide block, arc lower connecting rod, upper curved rod and end performs device, the line slideway are consolidated
Dingan County is put in fixed platform；The moving slide block can be moved along the axial direction of line slideway, and bottom motor is fixed
Be assemblied on moving slide block, the output shaft of bottom motor coordinates with arc lower connecting rod lower end, driving arc lower connecting rod around
The rotation of bottom driving motor output shaft；Upper curved rod lower end is connected with arc lower connecting rod, upper end connection end performs device；
The upper surface of the arc lower connecting rod is provided with elongated slot, and the upper end of arc lower connecting rod is provided with stage casing motor, stage casing
The output shaft of motor is connected with gear；
The lower end of the upper curved rod is conformed with, and projection is engaged with the elongated slot of upper curved rod, and upper curved rod is with
Curved rod concentric, the side of upper curved rod is provided with tooth, and the tooth is engaged with the gear of arc lower connecting rod；Upper arc connects
The upper end of bar is provided with support bar mounting hole and leading screw mounting hole, and support bar mounting hole site is in the side provided with tooth, leading screw mounting hole
Positioned at the side without tooth；
The end performs device includes end actuating motor, leading screw fixed plate, leading screw, driving sliding block and support bar, the silk
Thick stick fixed plate lower end is fixedly connected with the upper end of upper curved rod, and end actuating motor is fixedly mounted on the upper of leading screw fixed plate,
The output shaft of end actuating motor and one end of leading screw are connected, the other end of leading screw and the leading screw mounting hole phase on upper curved rod
Coordinate, connected leading screw with upper curved rod by leading screw mounting hole；The driving sliding block coordinates with leading screw, support bar one
End is arranged on driving sliding block, and the support bar other end is through the support bar mounting hole on upper curved rod, and support bar is used to install
Moving platform.
2. the surgical operation robot according to claim 1 containing arc prismatic pair, it is characterised in that the motion is slided
Block is coordinated with line slideway in the form of cylindrical pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621177663.1U CN206424149U (en) | 2016-11-03 | 2016-11-03 | A kind of surgical operation robot containing arc prismatic pair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621177663.1U CN206424149U (en) | 2016-11-03 | 2016-11-03 | A kind of surgical operation robot containing arc prismatic pair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206424149U true CN206424149U (en) | 2017-08-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621177663.1U Active CN206424149U (en) | 2016-11-03 | 2016-11-03 | A kind of surgical operation robot containing arc prismatic pair |
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| CN (1) | CN206424149U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106344160A (en) * | 2016-11-03 | 2017-01-25 | 河北工业大学 | Surgical robot containing arc-shaped moving pair |
| CN108784928A (en) * | 2018-07-06 | 2018-11-13 | 北京航空航天大学 | A kind of Novel ophthalmic microsurgical knife remote centre of motion mechanism |
-
2016
- 2016-11-03 CN CN201621177663.1U patent/CN206424149U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106344160A (en) * | 2016-11-03 | 2017-01-25 | 河北工业大学 | Surgical robot containing arc-shaped moving pair |
| CN106344160B (en) * | 2016-11-03 | 2019-09-20 | 河北工业大学 | A kind of surgical operation robot containing arc prismatic pair |
| CN108784928A (en) * | 2018-07-06 | 2018-11-13 | 北京航空航天大学 | A kind of Novel ophthalmic microsurgical knife remote centre of motion mechanism |
| CN108784928B (en) * | 2018-07-06 | 2020-12-29 | 北京航空航天大学 | Novel remote motion center mechanism for ophthalmic microsurgery |
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