CN207708010U - A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery - Google Patents
A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery Download PDFInfo
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- CN207708010U CN207708010U CN201720537075.2U CN201720537075U CN207708010U CN 207708010 U CN207708010 U CN 207708010U CN 201720537075 U CN201720537075 U CN 201720537075U CN 207708010 U CN207708010 U CN 207708010U
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- connecting rod
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Abstract
The utility model is related to robotic technology fields.Purpose is to provide a kind of Three Degree Of Freedom robot for Minimally Invasive Surgery, which should have many advantages, such as that compact-sized, precision is high.Technical solution is：A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery, including rack, surgery operation module and a branch being connected between rack and surgery operation module；The branch is formed by connecting with linear module by revolute pair by parallelogram module；Parallelogram module includes the first connecting rod being arranged parallel to, fourth link and the 5th connecting rod, and the second connecting rod and third connecting rod for being arranged parallel to and being connect simultaneously with first connecting rod, fourth link and the 5th connecting rod by revolute pair respectively.
Description
Technical field
The utility model is related to robotic technology field, specifically a kind of Three Degree Of Freedom robot for Minimally Invasive Surgery.
Background technology
With the development of science and technology " Minimally Invasive Surgery " this concept has been deep into all kinds of surgical fields.Minimally Invasive Surgery refers to
A kind of new technology performed a surgical operation in human body using the modern medical equipments such as laparoscope, thoracoscope and relevant device.Due to only
A small wound need to be cut in patient body-surface, have many advantages, such as that pain is light, recovery is fast, bleeding is few, scar after the operation is small, minimally invasive
Operation is widely used in clinical field.But due to the limitation of wound, the enforcement difficulty of Minimally Invasive Surgery is big, to the warp of doctor
It tests and skill requires height.In addition, the operation direction of doctor and target location are on the contrary, inconvenient coordination, easy tos produce maloperation.For
Overcome the problems, such as these, it is a selection well that robot is introduced in Minimally Invasive Surgery.
In Minimally Invasive Surgery, surgical instrument cannot expand the wound of patient body-surface, and operating robot should be executed around wound point
Two-freedom rotational motion and single-degree-of-freedom moving movement by wound point, three degree of freedom altogether.Clinically make at present
Micro-wound operation robot mainly has the external Da Vinci robots researched and developed and a Zeus robots, and volume is big, price
It is expensive.The research and development of China's micro-wound operation robot are still in the starting stage, and existing robot is only used for auxiliary positioning, can not
It is independent in clinical application.To promote the operating robot technology and Minimally Invasive Surgery level in China, exploitation one kind, which has, independently to be known
The micro-wound operation robot for knowing property right is necessary.
Utility model content
Technical problem to be solved in the utility model is to overcome the deficiencies of the prior art and provide one kind being used for Minimally Invasive Surgery
Three Degree Of Freedom robot, which should have many advantages, such as that compact-sized, precision is high.
Technical solution provided by the utility model is：
A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery, including rack, surgery operation module and it is connected to rack
A branch between surgery operation module；It is characterized in that：
The branch is formed by connecting with linear module by revolute pair by parallelogram module；Parallelogram module packet
The first connecting rod being arranged parallel to, fourth link and the 5th connecting rod are included, and is arranged parallel to and passes through revolute pair respectively
The second connecting rod and third connecting rod being connect simultaneously with first connecting rod, fourth link and the 5th connecting rod；First connecting rod therein passes through
First revolute pair is connect with rack, fourth link its right end is passed through by the 8th revolute pair of its right end, the 5th connecting rod the 9th
Revolute pair is connect with linear module respectively；The line of 8th revolute pair and the 9th rotation sub-center is parallel to second connecting rod and third
Connecting rod, and meet at fixed point A with the first revolute pair axis；
Linear module includes being arranged parallel to and left end is separately connected the 6th of the 8th revolute pair and the 9th revolute pair and connects
Bar and seven-link assembly and both ends are connect by the tenth revolute pair and the 11st revolute pair with six-bar linkage and seven-link assembly respectively
The 8th connecting rod；The right end of the right end of six-bar linkage and seven-link assembly passes through the tenth revolute pair and the 12nd revolute pair and the respectively
Two fixed blocks and the connection of the first fixed block；
Surgery operation module includes the first fixed block, the second fixed block and is fixed on the first fixed block and passes through cylindrical pair
The surgical instrument being connect simultaneously with the second fixed block.
The second fixed block in surgery operation module is connected with six-bar linkage and the 8th connecting rod simultaneously by the tenth revolute pair,
First fixed block is connected by the 12nd revolute pair with seven-link assembly；The line mistake of tenth revolute pair and the 12nd rotation sub-center
Fixed point A.
A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery, including rack, surgery operation module and be arranged symmetrically in
Liang Ge branches between rack and surgery operation module；It is characterized in that：
Each branch is formed by connecting with linear module by revolute pair by parallelogram module；Parallelogram module packet
The first connecting rod being arranged parallel to, fourth link and the 5th connecting rod are included, and is arranged parallel to and passes through revolute pair respectively
The second connecting rod and third connecting rod being connect simultaneously with first connecting rod, fourth link and the 5th connecting rod；First connecting rod therein is logical
The first revolute pair is crossed to connect with rack, fourth link its right end is passed through by the 8th revolute pair of its right end, the 5th connecting rod
Nine revolute pairs are connect with linear module respectively；The line of 8th revolute pair and the 9th rotation sub-center is parallel to second connecting rod and the
Three-link, and meet at fixed point A with the first revolute pair axis；
Linear module includes being arranged parallel to and left end is separately connected the 6th of the 8th revolute pair and the 9th revolute pair and connects
Bar and seven-link assembly and both ends are connect by the tenth revolute pair and the 11st revolute pair with six-bar linkage and seven-link assembly respectively
The 8th connecting rod；The right end of the right end of six-bar linkage and seven-link assembly passes through the tenth revolute pair and the 12nd revolute pair and the respectively
Two fixed blocks and the connection of the first fixed block；
Surgery operation module includes the first fixed block, the second fixed block and is fixed on the first fixed block and passes through cylindrical pair
The surgical instrument being connect simultaneously with the second fixed block；
Six-bar linkage in one branch connect with the 8th connecting rod in another branch, merges into an integral stem；Each point
The line of the tenth revolute pair and the 12nd rotation sub-center in branch crosses fixed point A.
The second fixed block in surgery operation module by the tenth revolute pair simultaneously in each branch six-bar linkage and
8th connecting rod is connected, and the first fixed block is connected by the 12nd revolute pair with the seven-link assembly in each branch.
The axis of first connecting rod is overlapped with the axis of the first revolute pair, and vertical with other axis of all revolute pairs.
In each branch, second connecting rod is connected by the second revolute pair with first connecting rod, and passes through the 4th revolute pair and the
Double leval jib is connected, and is also connected with the 5th connecting rod by the 6th revolute pair；Third connecting rod passes through third revolute pair and first connecting rod phase
Even, and it is connected with fourth link by the 5th revolute pair, is also connected with the 5th connecting rod by the 7th revolute pair.
In each branch, six-bar linkage is connected by parallelogram mould the 8th revolute pair in the block with fourth link, again
It is connected with the 8th connecting rod by the tenth revolute pair；Seven-link assembly is connected by parallelogram mould the 9th revolute pair in the block and the 5th
Bar is connected, and is connected with the 8th connecting rod further through the 11st revolute pair；The six-bar linkage is parallel to seven-link assembly, and the 8th connecting rod is flat
Row is in second connecting rod and third connecting rod.
The utility model has the beneficial effects that：
The utility model proposes robot may be implemented around fixed point two-freedom rotational motion and pass through fixation
The single-degree-of-freedom moving movement of point, has many advantages, such as that compact-sized, precision is high, is suitable for Minimally Invasive Surgery field.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model embodiment one.
Fig. 2 is the dimensional structure diagram of the utility model embodiment two.
Fig. 3 is the structural schematic diagram of branch.
Fig. 4 is the structural schematic diagram of surgery operation module.
Specific implementation mode
Below in conjunction with Figure of description, the utility model is described in further detail, but the utility model be not limited to
Lower embodiment.
Embodiment one
Such as Fig. 1, shown in 3,4, a kind of Three Degree Of Freedom robot for Minimally Invasive Surgery, including rack 1, surgery operation module
And it is connected to a branch between rack and surgery operation module.
Branch is formed by connecting by parallelogram module and linear module by revolute pair；Parallelogram module includes the
One revolute pair 2, first connecting rod 3, the second revolute pair 4, third revolute pair 5, second connecting rod 6, third connecting rod 7, the 4th revolute pair 8,
5th revolute pair 9, the 6th revolute pair 10, the 7th revolute pair 11, fourth link 12, the 5th connecting rod 13, the 8th revolute pair 14 and
Nine revolute pairs 15；First connecting rod is connected by the first revolute pair with rack；Second connecting rod passes through the second revolute pair and first connecting rod
It is connected, and is connected with fourth link by the 4th revolute pair, is connected with the 5th connecting rod further through the 6th revolute pair；Third connecting rod is logical
Cross third revolute pair with first connecting rod to be connected, and be connected with fourth link by the 5th revolute pair, further through the 7th revolute pair with
5th connecting rod is connected.First connecting rod is parallel to fourth link and the 5th connecting rod；The company of 8th revolute pair and the 9th rotation sub-center
Line is parallel to second connecting rod and third connecting rod, and meets at fixed point A with the first revolute pair axis.
Linear module includes six-bar linkage 16, seven-link assembly 17, the 8th connecting rod 18, the rotation of the tenth revolute pair the 19, the 11st
Secondary 20 and the 12nd revolute pair 21；Six-bar linkage is connected by parallelogram mould the 8th revolute pair in the block with fourth link,
It is connected with the 8th connecting rod further through the tenth revolute pair；Seven-link assembly passes through parallelogram mould the 9th revolute pair in the block and the 5th
Connecting rod is connected, and is connected with the 8th connecting rod further through the 11st revolute pair；The six-bar linkage is parallel to seven-link assembly, the 8th connecting rod
It is parallel to second connecting rod and third connecting rod.
Surgery operation module includes the first fixed block 22, the second fixed block 23, cylindrical pair 24 and surgical instrument 25；Surgical device
Tool is fixed on the first fixed block, is connect by cylindrical pair with the second fixed block.The second fixed block in surgery operation module is logical
Cross the tenth revolute pair simultaneously in branch six-bar linkage and the 8th connecting rod be connected, the first fixed block by the 12nd revolute pair and
Seven-link assembly in branch is connected；Tenth revolute pair is compound hinges；The line of tenth revolute pair and the 12nd rotation sub-center
Cross fixed point A.
In the present embodiment, it is optional that driving pair can choose the first revolute pair, the second revolute pair and the 8th revolute pair, type of drive
It (is omitted in figure) with servo deceleration machine.It is driven by speed reducer, surgical instrument may be implemented to rotate around the two-freedom of fixed point A
Movement and the single-degree-of-freedom moving movement for passing through fixed point A.
Embodiment two
Such as Fig. 2, shown in 3,4, a kind of Three Degree Of Freedom robot for Minimally Invasive Surgery, including rack 1, surgery operation module
And it is connected to the Liang Ge branches between rack and surgery operation module.
Each branch is formed by connecting by parallelogram module and linear module by revolute pair；Parallelogram module packet
The first revolute pair 2, first connecting rod 3, the second revolute pair 4, third revolute pair 5, second connecting rod 6, third connecting rod the 7, the 4th is included to rotate
Secondary 8, the 5th revolute pair 9, the 6th revolute pair 10, the 7th revolute pair 11, fourth link 12, the 5th connecting rod 13, the 8th revolute pair 14
With the 9th revolute pair 15；First connecting rod is connected by the first revolute pair with rack；Second connecting rod passes through the second revolute pair and first
Connecting rod is connected, and is connected with fourth link by the 4th revolute pair, is connected with the 5th connecting rod further through the 6th revolute pair；Third connects
Bar is connected by third revolute pair with first connecting rod, and is connected with fourth link by the 5th revolute pair, further through the 7th rotation
Pair is connected with the 5th connecting rod.First connecting rod is parallel to fourth link and the 5th connecting rod；8th revolute pair and the 9th rotation sub-center
Line be parallel to second connecting rod and third connecting rod, and meet at fixed point A with the first revolute pair axis.
Linear module includes six-bar linkage 16, seven-link assembly 17, the 8th connecting rod 18, the rotation of the tenth revolute pair the 19, the 11st
Secondary 20 and the 12nd revolute pair 21；Six-bar linkage is connected by parallelogram mould the 8th revolute pair in the block with fourth link,
It is connected with the 8th connecting rod further through the tenth revolute pair；Seven-link assembly passes through parallelogram mould the 9th revolute pair in the block and the 5th
Connecting rod is connected, and is connected with the 8th connecting rod further through the 11st revolute pair；The six-bar linkage is parallel to seven-link assembly, the 8th connecting rod
It is parallel to second connecting rod and third connecting rod.
Surgery operation module includes the first fixed block 22, the second fixed block 23, cylindrical pair 24 and surgical instrument 25；Surgical device
Tool is fixed on the first fixed block, is connect by cylindrical pair with the second fixed block.The second fixed block in surgery operation module is logical
Cross the tenth revolute pair simultaneously in branch six-bar linkage and the 8th connecting rod be connected, the first fixed block by the 12nd revolute pair and
Seven-link assembly in branch is connected.Six-bar linkage in one branch is overlapped with the 8th connecting rod in another branch, merges into one
Integral stem.Tenth revolute pair and the 12nd revolute pair are compound hinges, and the line at center crosses fixed point A.
In the present embodiment, driving pair can choose the first rotation in the second revolute pair and a branch in Liang Ge branches
Servo deceleration machine (being omitted in figure) can be selected in pair, type of drive.It is driven by speed reducer, surgical instrument may be implemented around fixed point
The two-freedom rotational motion of A and single-degree-of-freedom moving movement by fixed point A.
Claims (7)
1. a kind of Three Degree Of Freedom robot for Minimally Invasive Surgery, including rack (1), surgery operation module and it is connected to rack
A branch between surgery operation module；It is characterized in that：
The branch is formed by connecting with linear module by revolute pair by parallelogram module；Parallelogram module includes phase
First connecting rod (3), fourth link (12) and the 5th connecting rod (13) being mutually arranged in parallel, and be arranged parallel to and pass through respectively
The second connecting rod (6) and third connecting rod that revolute pair is connect with first connecting rod (3), fourth link (12) and the 5th connecting rod (13) simultaneously
(7)；First connecting rod therein is connect by the first revolute pair (2) with rack, the 8th revolute pair that fourth link passes through its right end
(14), the 5th connecting rod is connect with linear module respectively by the 9th revolute pair (15) of its right end；8th revolute pair and the 9th turn
The line of dynamic sub-center is parallel to second connecting rod and third connecting rod, and meets at fixed point A with the first revolute pair axis；
Linear module includes being arranged parallel to and left end is separately connected the six-bar linkage of the 8th revolute pair and the 9th revolute pair
(16) pass through the tenth revolute pair (19) and the 11st revolute pair (20) and six-bar linkage respectively with seven-link assembly (17) and both ends
(16) and seven-link assembly (17) connection the 8th connecting rod (18)；The right end of the right end of six-bar linkage and seven-link assembly passes through respectively
Ten revolute pairs and the 12nd revolute pair (21) are connect with the second fixed block (23) and the first fixed block (22)；
Surgery operation module includes the first fixed block, the second fixed block and is fixed on the first fixed block and by cylindrical pair (24)
The surgical instrument (25) being connect simultaneously with the second fixed block.
2. the Three Degree Of Freedom robot according to claim 1 for Minimally Invasive Surgery, it is characterised in that：Surgery operation module
In the second fixed block be connected simultaneously with six-bar linkage and the 8th connecting rod by the tenth revolute pair, the first fixed block passes through the 12nd
Revolute pair is connected with seven-link assembly；The line of tenth revolute pair and the 12nd rotation sub-center crosses fixed point A.
3. a kind of Three Degree Of Freedom robot for Minimally Invasive Surgery, including rack (1), surgery operation module and it is arranged symmetrically in
Liang Ge branches between rack and surgery operation module；It is characterized in that：
Each branch is formed by connecting with linear module by revolute pair by parallelogram module；Parallelogram module includes phase
First connecting rod (3), fourth link (12) and the 5th connecting rod (13) being mutually arranged in parallel, and be arranged parallel to and pass through respectively
The second connecting rod (6) and third that revolute pair is connect with first connecting rod (3), fourth link (12) and the 5th connecting rod (13) simultaneously connect
Bar (7)；First connecting rod therein is connect by the first revolute pair (2) with rack, and fourth link is dynamic by the eighth-turn of its right end
Secondary (14), the 5th connecting rod are connect with linear module respectively by the 9th revolute pair (15) of its right end；8th revolute pair and the 9th
The line of rotation sub-center is parallel to second connecting rod and third connecting rod, and meets at fixed point A with the first revolute pair axis；
Linear module includes being arranged parallel to and left end is separately connected the six-bar linkage of the 8th revolute pair and the 9th revolute pair
(16) pass through the tenth revolute pair (19) and the 11st revolute pair (20) and six-bar linkage respectively with seven-link assembly (17) and both ends
(16) and seven-link assembly (17) connection the 8th connecting rod (18)；The right end of the right end of six-bar linkage and seven-link assembly passes through respectively
Ten revolute pairs and the 12nd revolute pair (21) are connect with the second fixed block (23) and the first fixed block (22)；
Surgery operation module includes the first fixed block, the second fixed block and is fixed on the first fixed block and by cylindrical pair (24)
The surgical instrument (25) being connect simultaneously with the second fixed block；
Six-bar linkage in one branch connect with the 8th connecting rod in another branch, merges into an integral stem；In each branch
The tenth revolute pair and the 12nd rotation sub-center line cross fixed point A.
4. the Three Degree Of Freedom robot according to claim 3 for Minimally Invasive Surgery, it is characterised in that：Surgery operation module
In the second fixed block by the tenth revolute pair simultaneously in each branch six-bar linkage and the 8th connecting rod be connected, first fixation
Block is connected by the 12nd revolute pair with the seven-link assembly in each branch.
5. the Three Degree Of Freedom robot according to claim 2 or 4 for Minimally Invasive Surgery, it is characterised in that：
The axis of first connecting rod is overlapped with the axis of the first revolute pair, and vertical with other axis of all revolute pairs.
6. the Three Degree Of Freedom robot according to claim 5 for Minimally Invasive Surgery, it is characterised in that：In each branch,
Second connecting rod is connected by the second revolute pair (4) with first connecting rod, and is connected with fourth link by the 4th revolute pair (8), also
It is connected with the 5th connecting rod by the 6th revolute pair (10)；Third connecting rod is connected by third revolute pair (5) with first connecting rod, and logical
It crosses the 5th revolute pair (9) with fourth link to be connected, be also connected with the 5th connecting rod by the 7th revolute pair (11).
7. the Three Degree Of Freedom robot according to claim 6 for Minimally Invasive Surgery, it is characterised in that：In each branch,
Six-bar linkage is connected by parallelogram mould the 8th revolute pair in the block with fourth link, further through the tenth revolute pair and the 8th
Connecting rod is connected；Seven-link assembly is connected by parallelogram mould the 9th revolute pair in the block with the 5th connecting rod, further through the 11st
Revolute pair is connected with the 8th connecting rod；The six-bar linkage is parallel to seven-link assembly, and the 8th connecting rod is parallel to second connecting rod and third
Connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720537075.2U CN207708010U (en) | 2017-05-15 | 2017-05-15 | A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720537075.2U CN207708010U (en) | 2017-05-15 | 2017-05-15 | A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207708010U true CN207708010U (en) | 2018-08-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720537075.2U Withdrawn - After Issue CN207708010U (en) | 2017-05-15 | 2017-05-15 | A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery |
Country Status (1)
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| CN (1) | CN207708010U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107049495A (en) * | 2017-05-15 | 2017-08-18 | 浙江理工大学 | A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery |
| CN109512508A (en) * | 2018-12-03 | 2019-03-26 | 中国科学院深圳先进技术研究院 | Distal center movement mechanism based on scissors mechanism |
| CN109770970A (en) * | 2019-03-08 | 2019-05-21 | 温州广立生物医药科技有限公司 | A kind of abdominal-cavity minimal-invasion surgery robot |
| CN111839533A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Portable blood sampling robot and blood sampling method |
| CN111839548A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Blood sampling robot and control method thereof |
| CN111839542A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Multi-link mechanism for blood sampling robot device |
| CN111887864A (en) * | 2020-06-05 | 2020-11-06 | 哈工大机器人(中山)无人装备与人工智能研究院 | End effector for blood collection robotic device |
-
2017
- 2017-05-15 CN CN201720537075.2U patent/CN207708010U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107049495A (en) * | 2017-05-15 | 2017-08-18 | 浙江理工大学 | A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery |
| CN109512508A (en) * | 2018-12-03 | 2019-03-26 | 中国科学院深圳先进技术研究院 | Distal center movement mechanism based on scissors mechanism |
| CN109770970A (en) * | 2019-03-08 | 2019-05-21 | 温州广立生物医药科技有限公司 | A kind of abdominal-cavity minimal-invasion surgery robot |
| CN109770970B (en) * | 2019-03-08 | 2021-05-04 | 康年医疗科技有限公司 | Abdominal cavity minimally invasive surgery robot |
| CN111839533A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Portable blood sampling robot and blood sampling method |
| CN111839548A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Blood sampling robot and control method thereof |
| CN111839542A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Multi-link mechanism for blood sampling robot device |
| CN111887864A (en) * | 2020-06-05 | 2020-11-06 | 哈工大机器人(中山)无人装备与人工智能研究院 | End effector for blood collection robotic device |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180810 Effective date of abandoning: 20230725 |
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| AV01 | Patent right actively abandoned |