CN207708011U - A kind of parallel Three Degree Of Freedom remote centre of motion operating robot - Google Patents
A kind of parallel Three Degree Of Freedom remote centre of motion operating robot Download PDFInfo
- Publication number
- CN207708011U CN207708011U CN201720537074.8U CN201720537074U CN207708011U CN 207708011 U CN207708011 U CN 207708011U CN 201720537074 U CN201720537074 U CN 201720537074U CN 207708011 U CN207708011 U CN 207708011U
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- revolute pair
- operation module
- branches
- fixed block
- surgery operation
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Abstract
The utility model is related to operating robot technical fields.Purpose is to provide a kind of parallel Three Degree Of Freedom remote centre of motion operating robot, which should have many advantages, such as that compact-sized, good rigidity, precision are high, dynamic characteristic is good.Technical solution is：A kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including rack, surgery operation module and four branches being connected between rack and surgery operation module；It is characterized in that：Each branch includes the 5th connecting rod that the parallelogram mechanism being connect with rack by the first revolute pair and both ends are connect by the 6th revolute pair and the 7th revolute pair with parallelogram mechanism and surgery operation module respectively.
Description
Technical field
The utility model is related to operating robot technical field, specifically a kind of parallel Three Degree Of Freedom remote centre of motion
Operating robot.
Background technology
Minimally Invasive Surgery refers to that doctor cuts a small wound in human epidermal, is stretched surgical instrument by this wound
Enter in human body and is operated.Compared with traditional operation, Minimally Invasive Surgery is small with wound, pain is light, restores fast, scar after the operation
Small equal remarkable advantages, therefore it is widely used in clinical field.However, Minimally Invasive Surgery is limited by small wound, doctor's operation
Difficulty is big, and the shake of hand can have a huge impact operation precision, and the operation direction of doctor and target location be not on the contrary,
It is easy to control.To solve these problems, it is a selection well to carry out Minimally Invasive Surgery using operating robot.
Robot is required to have the characteristics that remote centre of motion applied to Minimally Invasive Surgery, that is, center of rotation is remote in mechanism
The a certain fixed point at end can be such that surgical instrument is rotated around the point in this way.In the course of surgery, which creates with operation
Salty conjunction, it is desirable that robot can provide a movement and around two rotational motions of central point, total three degree of freedom.It proposes at present
Some remote centre of motion operating robots (101919739 B of CN 104622573 A, CN) are the knot of open loop type on the whole
Structure, precision is not high, and dynamic characteristic is bad, influences surgical quality, limits the application of robot.Compared to open loop structure, closed loop
The parallel institution of formula has many advantages, such as that good rigidity, precision are high, dynamic characteristic is good, is well suited for opening applied to micro-wound operation robot
Hair.It is therefore proposed that a kind of parallel remote centre of motion operating robot is necessary.
Utility model content
Technical problem to be solved in the utility model is to overcome deficiency existing for background technology, provides one kind parallel three
Degree of freedom remote centre of motion operating robot, the operating robot should have compact-sized, good rigidity, precision is high, dynamic is special
The advantages that property is good.
The technical solution of the utility model is：
A kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including rack, surgery operation module and company
Four branches being connected between rack and surgery operation module；It is characterized in that：
Each branch includes that the parallelogram mechanism being connect with rack by the first revolute pair and both ends pass through respectively
The 5th connecting rod that 6th revolute pair and the 7th revolute pair are connect with parallelogram mechanism and surgery operation module；
Surgery operation module includes the first fixed block, the second fixed block and is connect with the first fixed block and simultaneously by the
The surgical instrument that eight revolute pairs are connect with the second fixed block；
Four branches in pairs, the 7th rotation that Liang Ge branches in one of which are connected by each branch respectively
Pair be connected with the first fixed block of surgery operation module, the Liang Ge branches in another set connected respectively by each branch the 7th
Revolute pair is connected with the second fixed block of surgery operation module.
Four branches in pairs, per Zu Neiliangge branches two the first revolute pair axis overlap, and with another group in
Two the first revolute pair axis vertical take-offs of Liang Ge branches, intersection point are fixed point O, and the eighth-turn in surgery operation module moves secondary axis
Cross fixed point O；Per Zu Neiliangge branches two the 7th revolute pair axis overlap, and with the 7th turn of another group of Liang Ge branches
Dynamic secondary axis is vertical.
A kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including rack, surgery operation module and company
Three branches being connected between rack and surgery operation module；It is characterized in that
Each branch includes that the parallelogram mechanism being connect with rack by the first revolute pair and both ends pass through respectively
The 5th connecting rod that 6th revolute pair and the 7th revolute pair are connect with parallelogram mechanism and surgery operation module；
Surgery operation module includes the first fixed block, the second fixed block and is connect with the first fixed block and simultaneously by the
The surgical instrument that eight revolute pairs are connect with the second fixed block；
Three branches are divided into two groups, the 7th rotation that the Liang Ge branches in one of which are connected by each branch respectively
Pair is connected with the first fixed block of surgery operation module, and another group of a branch passes through the 7th revolute pair connected and operation
Second fixed block of operation module is connected；Alternatively,
The second of the 7th revolute pair and surgery operation module that Liang Ge branches in one group are connected by each branch respectively is solid
Determine block to be connected, another group of a branch passes through the 7th revolute pair connected and the first fixed block phase of surgery operation module
Even.
Three branches are divided into two groups, and the first revolute pair axis in a Zu Neiliangge branches overlaps, and with it is next point surplus
The first revolute pair axis vertical take-off in branch, intersection point are fixed point O, and the eighth-turn in surgery operation module moves secondary axis and crosses fixed point
O；7th revolute pair axis of one Zu Neiliangge branches overlaps, and vertical with the 7th revolute pair axis remained in next branch.
The parallelogram mechanism passes through rotation respectively by first connecting rod, second connecting rod, third connecting rod and fourth link
Pair is sequentially formed by connecting.
The utility model has the beneficial effects that：
The utility model proposes parallel robot can execute single-degree-of-freedom moving movement and around fixed point two freely
Rotational motion is spent, has many advantages, such as that compact-sized, good rigidity, precision are high, dynamic characteristic is good, can be used 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 dimensional structure diagram of the utility model embodiment three.
Fig. 4 is the structural schematic diagram of branch.
Fig. 5 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 4,5, a kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including rack 1, operation
Operation module and four branches being connected between rack and surgery operation module.
Each branch include the first revolute pair 2 being connected in turn between rack and surgery operation module, first connecting rod 3,
Second revolute pair 4, third revolute pair 5, second connecting rod 6, third connecting rod 7, the 4th revolute pair 8, the 5th revolute pair 9, fourth link
10, the 6th revolute pair 11, the 5th connecting rod 12 and the 7th revolute pair 13；Wherein, first connecting rod, second connecting rod, fourth link and
Three-link sequentially forms parallel four side by the second revolute pair 4, the 4th revolute pair 8, the 5th revolute pair 9 and third revolute pair 5
Shape mechanism.
Surgery operation module includes the first fixed block 14, the second fixed block 15, the 8th revolute pair 16 and surgical instrument 17,
Middle surgical instrument is fixed on the first fixed block, while being connect with the second fixed block by the 8th revolute pair.
In pairs, Liang Ge branches in one of which pass through the 7th revolute pair on the 5th connecting rod and operation for four branches
First fixed block of operation module is connected, and the Liang Ge branches in another set pass through the 7th revolute pair on the 5th connecting rod and operation
Second fixed block of operation module is connected；Per Zu Neiliangge branches two the first revolute pair axis overlap, and with another group in
Two the first revolute pair axis vertical take-offs of Liang Ge branches, intersection point are fixed point O, and the eighth-turn in surgery operation module moves secondary axis
Cross fixed point O；Per Zu Neiliangge branches two the 7th revolute pair axis overlap, and with the 7th turns auxiliary shaft of another group of branches
Line is vertical.
In the present embodiment, driving pair can choose the second revolute pair in each branch, and servo deceleration machine can be selected in type of drive
(being omitted in figure)；When driving secondary motion, surgical instrument can do single-degree-of-freedom moving movement and be rotated around the two-freedom of O points
Movement；At this point, mechanism is redundant drive.
Embodiment two
Such as Fig. 2, shown in 4,5, a kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including rack 1, operation
Operation module and three branches being connected between rack and surgery operation module.
Each branch include the first revolute pair 2 being connected in turn between rack and surgery operation module, first connecting rod 3,
Second revolute pair 4, third revolute pair 5, second connecting rod 6, third connecting rod 7, the 4th revolute pair 8, the 5th revolute pair 9, fourth link
10, the 6th revolute pair 11, the 5th connecting rod 12 and the 7th revolute pair 13；Wherein, first connecting rod, second connecting rod, fourth link and
Three-link sequentially forms parallel four side by the second revolute pair 4, the 4th revolute pair 8, the 5th revolute pair 9 and third revolute pair 5
Shape mechanism.
Surgery operation module includes the first fixed block 14, the second fixed block 15, the 8th revolute pair 16 and surgical instrument 17,
Middle surgical instrument is fixed on the first fixed block, while being connect with the second fixed block by the 8th revolute pair.
Three branches are divided into two groups, and one of which includes that there are two branches, passes through the 7th rotation on the 5th connecting rod respectively
Pair is connected with the first fixed block of surgery operation module, and in another group a branch passes through the 7th revolute pair on the 5th connecting rod
It is connected with the second fixed block of surgery operation module；First revolute pair axis of one Zu Neiliangge branches overlaps, and with remaining one
The first revolute pair axis vertical take-off in a branch, intersection point are fixed point O, and it is excessively solid that the eighth-turn in surgery operation module moves secondary axis
Pinpoint O；7th revolute pair axis of one Zu Neiliangge branches overlaps, and hangs down with the 7th revolute pair axis remained in next branch
Directly.
In the present embodiment, driving pair can choose the second revolute pair in each branch, and servo deceleration machine can be selected in type of drive
(being omitted in figure)；When driving secondary motion, surgical instrument can do single-degree-of-freedom moving movement and be rotated around the two-freedom of O points
Movement.
Embodiment three
Such as Fig. 3, shown in 4,5, a kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including rack 1, operation
Operation module and three branches being connected between rack and surgery operation module.
Each branch include the first revolute pair 2 being connected in turn between rack and surgery operation module, first connecting rod 3,
Second revolute pair 4, third revolute pair 5, second connecting rod 6, third connecting rod 7, the 4th revolute pair 8, the 5th revolute pair 9, fourth link
10, the 6th revolute pair 11, the 5th connecting rod 12 and the 7th revolute pair 13；Wherein, first connecting rod, second connecting rod, fourth link and
Three-link sequentially forms parallel four side by the second revolute pair 4, the 4th revolute pair 8, the 5th revolute pair 9 and third revolute pair 5
Shape mechanism.
Surgery operation module includes the first fixed block 14, the second fixed block 15, the 8th revolute pair 16 and surgical instrument 17,
Middle surgical instrument is fixed on the first fixed block, while being connect with the second fixed block by the 8th revolute pair.
Three branches are divided into two groups, and one of which is included there are two branch, by the 7th revolute pair on the 5th connecting rod with
Second fixed block of surgery operation module is connected, and a branch in another group passes through the 7th revolute pair and hand on the 5th connecting rod
First fixed block of art operation module is connected；First revolute pair axis of one Zu Neiliangge branches overlaps, and with it is next point surplus
The first revolute pair axis vertical take-off in branch, intersection point are fixed point O, and the eighth-turn in surgery operation module moves secondary axis and crosses fixed point
O；7th revolute pair axis of one Zu Neiliangge branches overlaps, and vertical with the 7th revolute pair axis remained in next branch.
In the present embodiment, driving pair can choose the second revolute pair in each branch, and servo deceleration machine can be selected in type of drive
(being omitted in figure)；When driving secondary motion, surgical instrument can do single-degree-of-freedom moving movement and be rotated around the two-freedom of O points
Movement.
Claims (5)
1. a kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including rack (1), surgery operation module and company
Four branches being connected between rack and surgery operation module；It is characterized in that：
Each branch includes passing through parallelogram mechanism that the first revolute pair (2) is connect with rack and both ends respectively by the
The 5th connecting rod (12) that six revolute pairs (11) and the 7th revolute pair (13) are connect with parallelogram mechanism and surgery operation module；
Surgery operation module includes the first fixed block (14), the second fixed block (15) and connect with the first fixed block and lead to simultaneously
Cross the surgical instrument (17) that the 8th revolute pair (16) is connect with the second fixed block；
Four branches in pairs, the 7th revolute pair that Liang Ge branches in one of which are connected by each branch respectively with
First fixed block of surgery operation module is connected, the 7th rotation that the Liang Ge branches in another set are connected by each branch respectively
Pair is connected with the second fixed block of surgery operation module.
2. parallel Three Degree Of Freedom remote centre of motion operating robot according to claim 1, it is characterised in that：Four
In pairs, two the first revolute pair axis per Zu Neiliangge branches overlap, and with the two of another Zu Neiliangge branches for branch
A first revolute pair axis vertical take-off, intersection point are fixed point O, and the eighth-turn in surgery operation module moves secondary axis and crosses fixed point O；Often
Two the 7th revolute pair axis of Zu Neiliangge branches overlap, and hang down with the 7th revolute pair axis of another group of Liang Ge branches
Directly.
3. a kind of parallel Three Degree Of Freedom remote centre of motion operating robot, including rack (1), surgery operation module and company
Three branches being connected between rack and surgery operation module；It is characterized in that
Each branch includes passing through parallelogram mechanism that the first revolute pair (2) is connect with rack and both ends respectively by the
The 5th connecting rod (12) that six revolute pairs (11) and the 7th revolute pair (13) are connect with parallelogram mechanism and surgery operation module；
Surgery operation module includes the first fixed block (14), the second fixed block (15) and connect with the first fixed block and lead to simultaneously
Cross the surgical instrument (17) that the 8th revolute pair (16) is connect with the second fixed block；
Three branches are divided into two groups, the 7th revolute pair that the Liang Ge branches in one of which are connected by each branch respectively with
First fixed block of surgery operation module is connected, and another group of a branch passes through the 7th revolute pair and surgical procedure that are connected
Second fixed block of module is connected；Alternatively,
Second fixed block of the 7th revolute pair and surgery operation module that the Liang Ge branches in one group are connected by each branch respectively
It is connected, another group of a branch is connected by the 7th revolute pair connected with the first fixed block of surgery operation module.
4. parallel Three Degree Of Freedom remote centre of motion operating robot according to claim 3, it is characterised in that：Three
Branch is divided into two groups, and the first revolute pair axis in a Zu Neiliangge branches overlaps, and with remain first turn in next branch
Dynamic secondary axis is orthogonal, and intersection point is fixed point O, and the eighth-turn in surgery operation module moves secondary axis and crosses fixed point O；Two in one group
7th revolute pair axis of branch overlaps, and vertical with the 7th revolute pair axis remained in next branch.
5. parallel Three Degree Of Freedom remote centre of motion operating robot according to claim 1 or 2 or 3 or 4, feature
It is：The parallelogram mechanism by first connecting rod, second connecting rod, third connecting rod and fourth link respectively by revolute pair according to
Sequence is formed by connecting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720537074.8U CN207708011U (en) | 2017-05-15 | 2017-05-15 | A kind of parallel Three Degree Of Freedom remote centre of motion operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720537074.8U CN207708011U (en) | 2017-05-15 | 2017-05-15 | A kind of parallel Three Degree Of Freedom remote centre of motion operating robot |
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| Publication Number | Publication Date |
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| CN207708011U true CN207708011U (en) | 2018-08-10 |
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| CN201720537074.8U Withdrawn - After Issue CN207708011U (en) | 2017-05-15 | 2017-05-15 | A kind of parallel Three Degree Of Freedom remote centre of motion operating robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107049498A (en) * | 2017-05-15 | 2017-08-18 | 浙江理工大学 | A kind of parallel Three Degree Of Freedom remote centre of motion operating robot |
| CN109108948A (en) * | 2018-10-23 | 2019-01-01 | 西安工程大学 | Parallel institution with tri- kinds of motor patterns of 3R, 2R1T and 1R2T |
| 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 |
-
2017
- 2017-05-15 CN CN201720537074.8U patent/CN207708011U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107049498A (en) * | 2017-05-15 | 2017-08-18 | 浙江理工大学 | A kind of parallel Three Degree Of Freedom remote centre of motion operating robot |
| CN107049498B (en) * | 2017-05-15 | 2023-10-20 | 浙江理工大学 | Parallel three-degree-of-freedom remote motion center surgical robot |
| CN109108948A (en) * | 2018-10-23 | 2019-01-01 | 西安工程大学 | Parallel institution with tri- kinds of motor patterns of 3R, 2R1T and 1R2T |
| CN109108948B (en) * | 2018-10-23 | 2021-07-27 | 西安工程大学 | Parallel mechanism with three motion modes of 3R, 2R1T and 1R2T |
| 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 |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180810 Effective date of abandoning: 20231020 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180810 Effective date of abandoning: 20231020 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |