CN207270382U - A kind of parallel abdominal-cavity minimal-invasion surgery manipulator - Google Patents
A kind of parallel abdominal-cavity minimal-invasion surgery manipulator Download PDFInfo
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- CN207270382U CN207270382U CN201720193958.6U CN201720193958U CN207270382U CN 207270382 U CN207270382 U CN 207270382U CN 201720193958 U CN201720193958 U CN 201720193958U CN 207270382 U CN207270382 U CN 207270382U
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Abstract
It the utility model is related to a kind of operating robot, it is therefore an objective to which compact-sized, small volume, reliable operation should be had the characteristics that by providing manipulator.Technical solution is：A kind of parallel abdominal-cavity minimal-invasion surgery manipulator, the manipulator include being rotatably positioned the surgical modules on moving platform, the base below moving platform and the Liang Ge branches being connected in parallel between moving platform and base；Each branch includes the first revolute pair, first connecting rod, the 2nd U pairs, the hinged set of prismatic pair and the second connecting rod as prismatic pair slide bar being connected in turn between moving platform and base；In each branch, the first rotation axis in the first revolute pair axis and the 2nd U pairs is parallel to each other and perpendicular to surgical modules pivot center and prismatic pair mobile axis；Second rotation axis in 2nd U pairs is parallel to prismatic pair mobile axis and perpendicular to surgical modules pivot center；Prismatic pair mobile axis in Liang Ge branches intersect at a point with surgical modules pivot center.
Description
Technical field
A kind of robot is the utility model is related to, is specifically a kind of parallel abdominal-cavity minimal-invasion surgery manipulator.
Background technology
Minimally invasive surgery is that special instrument, physical energy or chemical agent are sent into human body by microtrauma or natural passage
Inside, completes to reach treatment to the surgical procedures such as lesion, deformity, the inactivation of wound, excision, reparation or reconstruction in human body
The medical science branch of purpose, its outstanding feature are to be considerably less than traditional surgery to the wound of patient.First case in 1987
Laparoscopic Cholecystectomy indicates the birth of new minimally invasive surgery medicine milestone.Compared with traditional operation, it need not be operated on,
The aperture of several 0.5-1mm need to be only opened with patient, rear preventing from scar, patient is painless, only needs to complete within 3-5 days
Check, treatment, rehabilitation overall process, reduce injury of the traditional operation to human body, considerably reduce disease to patient to come
Inconvenience and pain.At home, BJ University of Aeronautics ＆ Astronautics's robot research started to have carried out robot assisted god in 1997
Research surgically.2001, the unit such as BJ University of Aeronautics ＆ Astronautics, Navy General Hospital have developed jointly to be widely used in
Clinical second generation Fraraeless stereotaxy robot.Beijing Navy General Hospital neurosurgeon is by the 5th within 2005
For robot for neurosurgery, by internet, successfully performed the operation for the Patients with Cerebral Hemorrhage far away from Yan'an, whole hand
Art is only with 40 minutes.The achievement is mainly used for surgery planning, navigation and stereo-directional puncture in cerebral surgery operation, and achieves
Medical instrument registration certificate.In terms of laparoscope micro-wound operation robot, University Of Tianjin has carried out correlative study work.University Of Tianjin
Go out micro-wound operation robot (MC with the sixth-largest cooperation research and development of learning of Paris, FRA2E systems).And existing operating robot volume compared with
Greatly, it is complicated, control is cumbersome, costly, the problems such as being also subject to more limitation when promoting and applying, so proposing a kind of knot
Compact, easy to operate, the cheap New-type mixed-coupled formula mechanism of structure is necessary.
Utility model content
The purpose of the utility model is to overcome the deficiency in above-mentioned background technology, there is provided a kind of parallel connection for Minimally Invasive Surgery
Manipulator, the manipulator should have the characteristics that compact-sized, small volume, reliable operation.
The technical solution of the utility model is：A kind of parallel abdominal-cavity minimal-invasion surgery manipulator, it is characterised in that：The machinery
Hand includes being rotatably positioned the surgical modules on moving platform, the base below moving platform and is connected in parallel dynamic flat
Between platform and base with drive surgical modules move Liang Ge branches；
The first revolute pair that each branch includes being connected in turn between moving platform and base, first connecting rod, the 2nd U
Secondary (universal hinge), the hinged set of prismatic pair and the second connecting rod as prismatic pair slide bar；In each branch, first rotates
First rotation axis in secondary axis and the 2nd U pairs is parallel to each other and is moved perpendicular to surgical modules pivot center and prismatic pair
Axis；Second rotation axis in 2nd U pairs is parallel to prismatic pair mobile axis and perpendicular to surgical modules pivot center；Two
Prismatic pair mobile axis in a branch intersect at a point with surgical modules pivot center.
The surgical modules include being rotatably positioned on moving platform and stretching into the operation tool below base and use
In the rotating motor of drive surgical tools；The pivot center of the motor is coaxial with surgical modules pivot center.
The motor is fixed by the bracket above moving platform.
The beneficial effects of the utility model are：
The utility model uses compact-sized hybrid mechanism, can not only ensure higher rigidity, but also moves accumulative
Error is less than serial mechanism, can improve operation precision；The utility model can drive surgical modules neatly to be moved around notch,
It can not only meet the requirement of Minimally Invasive Surgery, but also the injury to notch can be reduced, security is higher；The utility model may be used also
Simulation surgical instrument as teaching, training；Therefore, the utility model has weight for the further genralrlization for improving Minimally Invasive Surgery
Want meaning.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model embodiment.
Fig. 2 is the schematic diagram of a branch in the utility model embodiment.
Fig. 3 is the operation principle schematic diagram of the utility model.
Embodiment
Below in conjunction with the embodiment shown in Figure of description, the utility model is described in further detail, but the utility model
It is not limited to following embodiments.
Parallel abdominal-cavity minimal-invasion surgery manipulator as shown in Figure 1, including moving platform 3, base 5, surgical modules and drive
Module of having an operation Liang Ge branches.
The surgical modules include operation tool 4 and for the rotating motor 41 of drive surgical tools, the operation tools
Rotatably it is positioned at by sleeve 40 on moving platform；The operation tool is generally laparoscopic instrument and (refers specifically to incision knife, separation
Pincers, flusher, endoscope etc.)；The motor is fixed on moving platform by stent 42, and the pivot center of motor and operation
Module pivot center is coaxial, meanwhile, the length direction of the pivot center of motor parallel to operation tool；The base is positioned at dynamic
Arc-shaped base below platform, the lower end of operation tool are stretched under base after passing through half enclosing region 51 of the middle of the base downwards
Side.
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, including the first revolute pair being connected in turn from top to bottom between moving platform and base
21st, first connecting rod 11, the 2nd U pairs 22, prismatic pair 28 (hinged set and slide bar in prismatic pair keep being slidably matched) and conduct
The second connecting rod 12 of prismatic pair slide bar.
In each branch, the first revolute pair axis is parallel to each other with the first rotation axis in the 2nd U pairs and hangs down
Directly in surgical modules pivot center 4-1 and prismatic pair mobile axis；Second rotation axis in 2nd U pairs is moved parallel to prismatic pair
Shaft line；The second connecting rod is fixed on base.
In the prismatic pair, the U pair hinged sleeves for being fixed on first connecting rod lower end are slidably located on second connecting rod
(slide bar of the second connecting rod as the hinged sleeve)；The second connecting rod axis 28-1 of all prismatic pairs of Liang Ge branches intersects
In O points (incision site when O points represent operation on human body, i.e. fixing point), surgical modules pivot center passes through O points.
In above-described embodiment, prismatic pair and all revolute pairs drive by servomotor (being omitted in figure).
As shown in figure 3, the incision site 7 of human body is placed with puncture cannula 6 (English Trocar), operation tool is covered through puncture
Stretched into after pipe in human body；The operation tool is moved (arrow institute in the direction of motion such as Fig. 3 in the case where Liang Ge branches drive
Show), including using swing of the incision site as origin (i.e. foregoing fixing point) and stretching along operation tool axis direction
Contracting movement, while operation tool can also rotate under motor driving.
Claims (3)
- A kind of 1. parallel abdominal-cavity minimal-invasion surgery manipulator, it is characterised in that：The manipulator includes being rotatably positioned dynamic flat Surgical modules on platform (3), the base (5) below moving platform and be connected in parallel between moving platform and base with drive The Liang Ge branches of surgical modules movement；The first revolute pair (21) that each branch includes being connected in turn between moving platform and base, first connecting rod (11), 2nd U pairs (22), the hinged set of prismatic pair (28) and the second connecting rod (12) as prismatic pair slide bar；Each branch In, the first rotation axis in the first revolute pair axis and the 2nd U pairs is parallel to each other and perpendicular to surgical modules pivot center With prismatic pair mobile axis；Prismatic pair mobile axis in Liang Ge branches intersect at a point with surgical modules pivot center.
- 2. parallel abdominal-cavity minimal-invasion surgery manipulator according to claim 1, it is characterised in that：The surgical modules include It is rotatably positioned on moving platform and stretches into the operation tool below base (4) and for the rotating electricity of drive surgical tools Machine (41)；The pivot center of the motor is coaxial with surgical modules pivot center.
- 3. parallel abdominal-cavity minimal-invasion surgery manipulator according to claim 2, it is characterised in that：The motor passes through stent (42) it is fixed on above moving platform.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720193958.6U CN207270382U (en) | 2017-03-01 | 2017-03-01 | A kind of parallel abdominal-cavity minimal-invasion surgery manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720193958.6U CN207270382U (en) | 2017-03-01 | 2017-03-01 | A kind of parallel abdominal-cavity minimal-invasion surgery manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106821501A (en) * | 2017-03-01 | 2017-06-13 | 浙江理工大学 | A kind of parallel abdominal-cavity minimal-invasion surgery manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106821501A (en) * | 2017-03-01 | 2017-06-13 | 浙江理工大学 | A kind of parallel abdominal-cavity minimal-invasion surgery manipulator |
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