CN206603817U - Knee joint micro-wound operation robot - Google Patents
Knee joint micro-wound operation robot Download PDFInfo
- Publication number
- CN206603817U CN206603817U CN201621377113.4U CN201621377113U CN206603817U CN 206603817 U CN206603817 U CN 206603817U CN 201621377113 U CN201621377113 U CN 201621377113U CN 206603817 U CN206603817 U CN 206603817U
- Authority
- CN
- China
- Prior art keywords
- steel wire
- connecting rod
- motor
- fixed
- operating portion
- Prior art date
- 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.)
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 12
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 32
- 239000010959 steel Substances 0.000 claims abstract description 32
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000012659 Joint disease Diseases 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model provides a kind of knee joint micro-wound operation robot, including operating portion, connecting rod and driving base, and driving base drives operating portion by connecting rod.According to knee joint micro-wound operation robot described in the utility model, structure simplifies, and volume is smaller, can prevent knot and the torsion of steel wire drive system, and the folding free degree is big, and chucking power is strong.
Description
Technical field
The utility model is related to robot field, more particularly to a kind of knee joint micro-wound operation robot.
Background technology
Minimally Invasive Surgery is carried out in surgical operation therapy extensively at present, using operating theater instruments and other Medical Devices, is led to
Cross patient's body surface smile wound to be insinuated into vivo, by observing, the focus under image display is new to be operated.In knee
In treatment of joint disease operation, micro-wound operation robot has a good application prospect.But the domestic most import of surgical apparatus at present,
It is expensive, it is suppressed that its popularization and application.
In view of this, it is necessary to be improved to prior art, to meet use requirement at present to micro-wound operation robot.
Utility model content
Technical problem to be solved in the utility model is to overcome the deficiencies in the prior art there is provided a kind of minimally invasive hand of knee joint
Art robot, structure simplifies, volume is smaller, and chucking power is strong, cost is relatively low.
To achieve the above object, utility model provides following technical scheme：
A kind of knee joint micro-wound operation robot, including：Operating portion, connecting rod and driving base, driving base pass through even
Extension bar drives operating portion.
Further, operating portion includes two calipers in left and right and end support body, by steel wire drive system drive, steel wire
Transmission system is closed loop wire rope gearing, and two steel wire rope one end of the apparatus rotation free degree are fixed in connecting rod, the other end
It is fixed on the power output shaft being connected with motor M1.
Further, fixed two steel wire ropes on the drive wheel are extended to and motor M2 by connecting rod internal cavities
Connected power output shaft is simultaneously fixed on axle formation closed loop.
Further, the steel wire rope that driving left and right caliper is rotated, before being connected with motor M3, M4 output shaft, is first bypassed
Pitch freedom rotating shaft.
Further, by setting directive wheel, prevent from occurring between steel wire rope unnecessary friction and taken off from silk groove
Fall.
Brief description of the drawings
Fig. 1 is operating portion schematic diagram of the present utility model.
Fig. 2 is steel wire drive system schematic of the present utility model.
Fig. 3 is driving understructure schematic diagram of the present utility model.
(note：Shown structure in accompanying drawing is simply to illustrate that the signal of utility model feature, is not intended to according to accompanying drawing
Shown structure.)
Embodiment
As shown in Figure 1-2, according to knee joint micro-wound operation robot described in the utility model, including：Operating portion 1, company
Extension bar 3 and driving base 2.
As shown in Fig. 2 driving base 2 drives operating portion 1 by connecting rod 3, operating portion 1 is operated to position.
As shown in figure 1, operating portion 1 includes two calipers in left and right and end support body 6, the operating portion 1 is by steel wire drive
System drive.Steel wire drive system is that closed loop steel wire rope 7 is driven, and two one end of steel wire rope 7 of the apparatus rotation free degree are fixed on
In connecting rod 3, the other end is fixed on the power output shaft being connected with motor M1, so as to form closed loop.When motor M1 is rotated,
Connecting rod 3 is rotated with the operating portion 1 being fixed thereon under the traction of closed loop steel wire rope 7 relative to driving base 2, completes apparatus
The rotation free degree.
For pitch freedom, two steel wire ropes 7 on driving wheel 5 are fixed on by the internal cavities of connecting rod 3, are extended to
With the motor M2 power output shafts being connected and be fixed on the axle formation closed loop.When motor M2 is rotated, in leading for closed loop steel wire rope 7
Under drawing, end support body 6 is rotated with the caliper of left and right two being fixed thereon relative to connecting rod 3, completes pitch freedom
Motion.
The steel wire rope 7 for driving left and right caliper to rotate, before being connected with motor M3, M4 output shaft, first bypasses pitching free
Spend rotating shaft.
Further, by setting directive wheel 4, to prevent from occurring between steel wire rope 7 unnecessary friction and from silk groove
On come off.For example, for left caliper, be fixed on two steel wire ropes 7 on driving wheel 5, one end directly around to pitch axis left rear side,
Motor M3 output shafts side is extended to through bottom directive wheel 4 again, the other end is first around to pitch axis front side, by bottom directive wheel
4 re-extend the closed loop steel wire drive system that left caliper is formed to motor output shaft opposite side.Likewise, the steel wire of right caliper body is passed
The layout type of dynamic system is identical with left caliper., can be complete when left and right caliper is moved along identical direction by this design
Into the action of the deflection free degree；When left and right caliper is moved along opposite direction, the action of the folding free degree can be completed.
For driving base 2 as shown in Figure 3, it act as：Motion for each free degree of operating portion 1 provides power；It is fixed
The steel wire drive system of each free degree of phase pretension and the integrated rotation free degree.Wherein, the conventional structure of driving base 2 includes bottom
Disk, power interface device, back-up ring, end cap, drive bearing, directive wheel, dismounting button etc., can redesign as needed size or
Using the form of existing appliance feet.
According to knee joint micro-wound operation robot described in the utility model, with traditional knee joint micro-wound operation robot
Compare, have the characteristics that：
(1) structure simplifies, and volume is smaller；(2) knot and the torsion of steel wire drive system are prevented；(3) the folding free degree is big,
Chucking power is strong.
Described above, the only preferred embodiment of utility model is not intended to limit the protection domain of utility model,
All any modifications, equivalent substitutions and improvements made within the spirit and principle of utility model etc., should be included in practical new
Within the protection domain of type.
Claims (2)
1. a kind of knee joint micro-wound operation robot, including：Operating portion (1), connecting rod (3) and driving base (2), drive base
(2) operating portion (1) is driven by connecting rod (3), it is characterised in that：
Operating portion (1) includes two calipers in left and right and end support body (6), by steel wire drive system drive, steel wire drive system
Unite and be driven for closed loop steel wire rope (7), two steel wire rope (7) one end of the apparatus rotation free degree are fixed in connecting rod (3), another
End is fixed on the power output shaft being connected with motor M1；
Two steel wire ropes (7) on driving wheel (5) are fixed on by connecting rod (3) internal cavities, extends to and is connected with motor M2
Power output shaft and be fixed on the axle formation closed loop；
The steel wire rope (7) for driving left and right caliper to rotate, before being connected with motor M3, M4 output shaft, first bypasses pitch freedom
Rotating shaft；
By setting directive wheel (4), prevent from occurring between steel wire rope (7) unnecessary friction and come off from silk groove.
2. knee joint micro-wound operation robot according to claim 1, it is characterised in that：
For left caliper, two steel wire ropes (7) on driving wheel (5) are fixed on, one end is directly around to pitch axis left rear side, then pass through
Bottom directive wheel (4) extends to motor M3 output shafts side, and the other end is first around to pitch axis front side, by bottom directive wheel
(4) the closed loop steel wire drive system that left caliper is formed to motor output shaft opposite side is re-extended；Likewise, the steel wire of right caliper body
The layout type of transmission system is identical with left caliper.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621357588 | 2016-12-12 | ||
| CN2016213575887 | 2016-12-12 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206603817U true CN206603817U (en) | 2017-11-03 |
Family
ID=60170958
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621377113.4U Active CN206603817U (en) | 2016-12-12 | 2016-12-15 | Knee joint micro-wound operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206603817U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110584787A (en) * | 2019-10-14 | 2019-12-20 | 山东建筑大学 | Four-degree-of-freedom minimally invasive surgical instrument |
| CN112914728A (en) * | 2021-03-23 | 2021-06-08 | 上海电机学院 | Surgical instrument for minimally invasive surgery robot |
-
2016
- 2016-12-15 CN CN201621377113.4U patent/CN206603817U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110584787A (en) * | 2019-10-14 | 2019-12-20 | 山东建筑大学 | Four-degree-of-freedom minimally invasive surgical instrument |
| CN112914728A (en) * | 2021-03-23 | 2021-06-08 | 上海电机学院 | Surgical instrument for minimally invasive surgery robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20240626 Granted publication date: 20171103 |
|
| PP01 | Preservation of patent right |