CN208710056U - A kind of single hole surgical robot quick replacement mechanism of the control decoupling with linear joint - Google Patents
A kind of single hole surgical robot quick replacement mechanism of the control decoupling with linear joint Download PDFInfo
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- CN208710056U CN208710056U CN201820297745.2U CN201820297745U CN208710056U CN 208710056 U CN208710056 U CN 208710056U CN 201820297745 U CN201820297745 U CN 201820297745U CN 208710056 U CN208710056 U CN 208710056U
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Abstract
The single hole surgical robot quick replacement mechanism for the control decoupling that the utility model discloses a kind of with linear joint is made of the first joint driving mechanism, second joint driving mechanism, third joint driving mechanism, the 4th joint driving mechanism, the 5th joint driving mechanism, the 6th joint driving mechanism, the 7th joint driving mechanism, the 8th joint driving mechanism and base housing, base outer cover, connector and retaining mechanism etc..Surgical instrument driving mechanism completely solves the mutual movement coupled problem generated when each joint rotation of surgical instrument executing agency using control decoupling；It is decoupled by control principle, can simplify the structure design of surgical instrument executing agency, be conducive to the volume production of surgical instrument executing agency.The quick-changing mechanism of the control decoupling with linear joint for single hole operating robot of the utility model have easy disassembly, be easy to adjustment, accurate positioning, rigidity it is larger, it is rationally distributed, minimize, light-weighted.
Description
Technical field
The utility model relates to the Medical Devices in a kind of micro-wound surgical operation field, more particularly to one kind to have mobile close
The single hole surgical robot quick replacement mechanism of the control decoupling of section.
Background technique
20th century medical science is known as to one of the significant contribution of human civilization using laparoscope as the minimally invasive surgery of representative,
Minimally Invasive Surgery operation refers to that doctor is insinuated by elongated surgical instrument by the miniature incision of human body surface and carries out hand in vivo
Art operation.It is compared with traditional open surgery with operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time is fast
The advantages that, reach curative effect identical with traditional open surgery.Manually operated Minimally Invasive Surgery instrument is passive operation form, generally
End only has a freedom of motion.Doctor, which applies to drive by finger, in surgical procedure realizes end apparatus movement, and according to
The various complex operations including suturing, knotting are smoothly completed by the kinematic dexterity of doctor's arm and wrist.But for
For assisting minimally-invasive surgery robot system, since the operation of surgical instrument is completed by robot, and system, robot
System itself does not have the flexibility of people's operation.Therefore, the design of micro-wound operation robot Special surgical instrument is proposed higher
Requirement.For adapt to Minimally Invasive Surgery requirement, the design of surgical instrument should meet small in size, flexible operation, it is various informative, be convenient for
It is installed with robot arm, has enough stiffness and strength, is suitable for medical environment requirement (such as repeatedly disinfection).Especially perform the operation
Instrument should have more freedom degree to meet requirement on flexibility, just adapt to the complicated operations operation such as suture knotting.
In micro-wound operation robot surgical procedure, operation tool is the portion being uniquely in contact with human lesion tissue
Point, and the robot part of surgical procedure is directly executed, therefore, the performance of operation tool is that minimally-invasive surgery robot system is comprehensive
Close the key point of performance.For the requirement for adapting to modernization Minimally Invasive Surgery, the design of operation tool should meet delicate structure, operation
Flexibly, various informative, be easily changed, medical environment etc. be suitble to require, especially operation tool should have more freedom degree with full
Sufficient requirement on flexibility, and to be easily changed and just be able to achieve complicated surgical procedure.Therefore, the surgical device to match with operation tool
The performance of tool is also the important component of minimally-invasive surgery robot system comprehensive performance, and performance indicator not only affects operation
The use of tool also directly determines the design objective and layout type of main body system.In short, operation tool and fast replacing device
Performance is to embody the key factor of surgical robot system overall performance level.
In the world, the existing more set model machines of minimally-invasive surgery robot system research field have reached commercial clinical application water
It is flat, including da Vinci, Zeus, LAPROTEK system etc..Development by studying surgical robot system finds operation tool
System is mainly made of tool portion and fast replacing device.The development trend of tool portion is by bar transmission, low degree-of-freedom Xiang Sichuan
Dynamic, multiple degrees of freedom development, though structure increasingly simplifies, function becomes stronger and stronger；Fast replacing device is then gradually to tight
Gather type, integrated-type development, performance also become more and more efficiently, stablize.Two sets of existing commercialization micro-wound operation robots are all
The four-degree-of-freedom operation tool system being driven using silk, but there are still topology layout dispersion, shape rulers for these operation tool systems
The disadvantages of very little larger, so operation tool system still has very big development potentiality.
Research and development in China, minimally invasive surgery single hole operating robot are still in infancy, especially to operation tool system
Research compared with foreign technology there are also biggish gap, therefore, exploitation silk transmission, surgical instrument with degrees of freedom and match
The more stable efficient fast replacing device of performance promotes related-art technology progress to be of great significance to filling the domestic gaps.It grinds
Study carefully exploitation and possesses the surgical instrument with degrees of freedom system of different silk driving forms and quick change mode for being promoted from existing system
China has far reaching significance in the science of the scientific research field, technology status.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, a kind of easy disassembly is provided, is easy to adjust, positioning
Accurately, larger, the rationally distributed miniaturization of rigidity, light-weighted closing with mobile for minimally invasive surgery single hole operating robot
The quick-changing mechanism of the control decoupling of section, it can clamp operation tool auxiliary doctor and implement minimally invasive single-hole surgical.
The utility model provides that a kind of easy disassembly, to be easy to adjustment, accurate positioning, rigidity larger, rationally distributed small
Type, a kind of light-weighted single hole surgical robot quick replacement mechanism of the control decoupling with linear joint, concrete scheme are as follows:
A kind of single hole surgical robot quick replacement mechanism of the control decoupling with linear joint, including a fixing seat,
First, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism is installed in the fixing seat；
First joint driving mechanism is mounted in a fixing seat, described second, third, the 4th close, the 5th,
Six, the 7th and the 8th joint driving mechanism is mounted on the same pedestal, first joint driving mechanism also with it is described
Pedestal is connected；The pedestal can be axial along one axis direction of arm section of surgical instrument executing agency relative to the fixing seat
It is mobile；And then realize the joint driving mechanism of second, third, fourth, fifth, the six, the 7th and the 8th and surgical instrument
Executing agency is relative to the fixing seat being connected with first joint driving mechanism along the arm section one of surgical instrument executing agency
Axis direction axial movement；
The joint driving mechanism of second, third, fourth, fifth, the six, the 7th and the 8th is each by an interface
Clutch discs are connected with the surgical instrument executing agency；The second, third, fourth, fifth, the six, the 7th and the 8th
Joint driving mechanism by driving member respectively correspond driving surgical instrument executing agency second, third, fourth, fifth, the 6th,
The rotation of 7th and the 8th joint executing agency.
It is the second, third, fourth, fifth, the six, the 7th identical with the structure of the 8th joint driving mechanism, respectively
Including a motor, motor driven transmission shaft rotation, the transmission shaft is connected with interface clutch discs corresponding thereto；
Further, the transmission of the joint driving mechanism of the second, third, fourth, fifth, the six, the 7th and the 8th
Axis both ends are fixed on the base by bearing axial restraint, bearing.
Further, the joint driving mechanism of the second, third, fourth, fifth, the six, the 7th and the 8th is described
Transmission shaft section be in " D " font, transmission shaft by " D " shaped sections it is circumferentially fixed.
Further, the second, third, fourth, fifth, the 6th joint driving mechanism are single-row on the pedestal
It is sequentially connected in series arrangement；7th joint driving mechanism and the 8th joint driving mechanism and the 6th joint driving mechanism are in the pedestal
Upper parallel arrangement.
Further, the interface pedestal includes base housing and base outer cover, and the base housing is equipped with two
Road positioning convex platform, base housing two sides are respectively equipped with two stay bolt holes, and the stay bolt hole is connected with base outer cover.
Further, there are two the base outer covers, it is mounted and fixed to the two sides of base housing respectively；Base outer cover
Guide chute is designed above, and guide chute top is in " horn mouth " shape, to facilitate the installation of surgical instrument executing agency, pedestal
Guide chute end and intermediate channel bottom are in " circular arc " shape sliding slot slot bottom of " circular arc " shape, guide chute end and middle part above outer cover
Opening direction is vertical with guide chute axis direction, and the guide chute end of " circular arc " shape and intermediate channel bottom and surgical device
The fixed pin shaft of tool executing agency forms " interference " cooperation, to prevent the fixed pin shaft of surgical instrument executing agency from base outer cover
It " is skidded off " in guide chute end and intermediate channel bottom above, surgical instrument executing agency is caused " to separate " with quick-changing mechanism；
Further, surgical instrument executing agency can be installed to quick-changing mechanism along the guide chute above base outer cover
On；Length two stay bolt holes and base housing above of the design there are two stay bolt hole, above base outer cover on base outer cover
The long axially bored line of bolt hole is vertical, and base outer cover and base housing are adjusted when base outer cover being facilitated to be mounted and fixed on base housing
Relative mounting positions.
Further, the quick-changing mechanism interface pedestal for minimally invasive surgery single hole operating robot, further includes one
A retaining mechanism for surgical instrument executing agency to be fixed in interface pedestal；The retaining mechanism includes two groups, often
Group includes a locking hook, and one end of two locking hooks is rotatably mounted on the same base outer cover, and locking hook is another
End is equipped with groove, and corresponding position is equipped with boss, the groove and surgical device of locking hook above on surgical instrument executing agency shell
The boss cooperation of corresponding position is used for fixation surgical instrument executing agency on tool executing agency shell.
Further, first joint driving mechanism is a ball screw framework or a telescopic rod or liquid
Pressure, cylinder driver；As long as it is able to achieve the second joint driving mechanism, third joint driving mechanism, the 4th joint
Driving mechanism, the 5th joint driving mechanism, the 6th joint driving mechanism, the 7th joint driving mechanism and the 8th joint driving mechanism
With surgical instrument executing agency relative to the fixing seat being connected with first joint driving mechanism along one axis direction of arm section
Axial movement.
The utility model has the advantages that
A kind of single hole surgical robot quick replacement mechanism of the control decoupling with linear joint of the utility model, and it is existing
Technology is compared and is had the advantages that
1. the control decoupling with linear joint for minimally invasive surgery single hole operating robot of the utility model is fast
Change planes structure easy disassembly, be easy to adjust, accurate positioning, rigidity is larger, rationally distributed, miniaturization, lightweight.
2. surgical instrument quick-changing mechanism is using control decoupling, when completely solving each joint rotation of surgical instrument executing agency
The mutual movement coupled problem generated.
3. by adjusting relative mounting location between base outer cover and base housing, leading above adjustable base outer cover
To relative mounting location between the interface clutch discs above sliding slot and base housing, so that surgical instrument executing agency M be made to install
When on to quick-changing mechanism N, the interface clutch discs above surgical instrument executing agency M can be with the interface clutch above base housing
Disk can cooperate just to be driven in place, and the interface clutch above surgical instrument executing agency M will not be caused because of interference
Disk can not cooperate with the interface clutch discs above base housing.
4. being made into horn mouth at the top of the guide chute above tool apron outer cover, it is fit into surgical instrument executing agency M fastly
Change planes structure N when more convenient and quicker；Guide chute curve can guarantee that cutter driving disk slides naturally and be docked without interfering；
Guide chute end and intermediate channel bottom use interference fit that can be accurately positioned surgical instrument executing agency M's and quick-changing mechanism N
Relative mounting location.Surgical instrument executing agency M is fit into and removes from the front upper place quick-changing mechanism N, meets habit operation side
To reducing installation and remove difficulty.
5. surgical instrument executing agency M can be accurately and reliably fixed to above quick-changing mechanism N by locked by hooks mechanism；?
The locking that can be convenient and release surgical instrument executing agency M.
6. the interface clutch discs above quick-changing mechanism N use single-row arrangement, make surgical instrument executing agency M in interface pedestal
The arm of force between fixed point above is longer, is more advantageous in guarantee surgical instrument executing agency M consolidating on interface pedestal
It is fixed.
7. interface clutch discs above quick-changing mechanism N use single-row arrangement, motor and interface clutch discs " coaxially arranged ", can
With by second joint driving mechanism, third joint driving mechanism, the 4th joint driving mechanism, the 5th joint driving mechanism, the 6th
The single-row arrangement of motor of joint driving mechanism, the 7th joint driving mechanism and the 8th joint driving mechanism reduces multiple quick changes
A possibility that interfering when mechanism co-operating, space layout is reasonable.
8. carrying out control decoupling on quick-changing mechanism N, decoupling mechanism is not designed on surgical instrument executing agency M, in this way
The structure design that can simplify surgical instrument executing agency M, is conducive to surgical instrument executing agency M mass production.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is different
Determine proportionally, is only to be illustratively described the utility model, drawings discussed below is only some in the utility model
Embodiment is not limitation the utility model, for those of ordinary skill in the art, before not making the creative labor property
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of the double of single hole surgical robot quick replacement mechanism of the control decoupling with linear joint of the utility model
Head class instrument decoupling-structure right side view.
Fig. 2 is a kind of the double of single hole surgical robot quick replacement mechanism of the control decoupling with linear joint of the utility model
Head class instrument decoupling-structure schematic front view.
Fig. 3 is a kind of the double of single hole surgical robot quick replacement mechanism of the control decoupling with linear joint of the utility model
Head class instrument decoupling-structure schematic top plan view.
Fig. 4 is a kind of list of the single hole surgical robot quick replacement mechanism of the control decoupling with linear joint of the utility model
Head class instrument decoupling-structure schematic front view.
Fig. 5 is the utility model a kind of single hole surgical robot quick replacement mechanism and device of the control decoupling with linear joint
The assembly right side view of tool executing agency.
Fig. 6 is the utility model a kind of single hole surgical robot quick replacement mechanism and device of the control decoupling with linear joint
The assembly schematic front view of tool executing agency.
Fig. 7 is the utility model a kind of single hole surgical robot quick replacement mechanism and device of the control decoupling with linear joint
The assembly schematic top plan view of tool executing agency.
Fig. 8 is a kind of bottom of the single hole surgical robot quick replacement mechanism of the control decoupling with linear joint of the utility model
Seat cover structure schematic diagram.
Fig. 9 is a kind of the double of single hole surgical robot quick replacement mechanism of the control decoupling with linear joint of the utility model
Two structure of the main view of head class instrument decoupling-structure embodiment.
Figure 10 is a kind of single hole surgical robot quick replacement mechanism of the control decoupling with linear joint of the utility model
Two structure of the main view of single head class instrument decoupling-structure embodiment.
Figure 11-Figure 13 is the partial enlarged view in Fig. 5.
Figure 14-Figure 15 is the partial enlarged view in Fig. 6.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clear, complete description, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, fall within the protection scope of the utility model.
Specifically omit the explanation of label in the label below: 2_1~8_1 is represented: 2_1,3_1,4_1,5_1,6_
1,7_1,8_1；2_2~8_2 is represented: 2_2,3_2,4_2,5_2,6_2,7_2,8_2；2_3~8_3 is represented: 2_3,
3_3,4_3,5_3,6_3,7_3,8_3；2_1~8_1 is represented: 2_1,3_1,4_1,5_1,6_1,7_1,8_1；2_4~8_
4 represent: 2_4,3_4,4_4,5_4,6_4,7_4,8_4；2_5~8_5 represent: 2_5,3_5,4_5,5_5,6_5,
7_5,8_5；2_6~8_6 is represented: 2_6,3_6,4_6,5_6,6_6,7_6,8_6；3_3~6_3 is represented: 3_3,4_
3,5_3,6_3；3_4~6_4 is represented: 3_4,4_4,5_4,6_4.
Embodiment one
In conjunction with FIG. 1 to FIG. 3, Fig. 5~Fig. 8, Figure 11~Figure 15 illustrate present embodiment, it is described a kind of with linear joint
The single hole surgical robot quick replacement mechanism of decoupling, including a fixing seat 1_1 are controlled, and is installed on the fixing seat 1_1
The first joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4,
The composition such as five joint driving mechanisms 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8.
First joint driving mechanism 1 is connected by a ball screw framework 1_2 and fixing seat 1_1, described
Second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism the 5, the 6th
Joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8 are mounted on the same pedestal 1_3, described
The first joint driving mechanism 1 pass through the nut 1_2_1 of a ball screw framework 1_2 and the second joint driving mechanism
2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6,
Seven joint driving mechanisms 7 are connected with the pedestal 1_3 of the 8th joint driving mechanism 8；The second joint driving mechanism 2, third
Joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint
The pedestal 1_3 of driving mechanism 7 and the 8th joint driving mechanism 8 can be connected relative to first joint driving mechanism 1
Fixing seat 1_1 along surgical instrument executing agency M one 9_2 axis direction of arm section move axially；And then realize described second
Joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint
Driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8 and surgical instrument executing agency M relative to it is described
The first joint driving mechanism 1 it is connected fixing seat 1_1 it is axial along the one 9_2 axis direction of arm section of surgical instrument executing agency M
It is mobile；
First joint driving mechanism 1 drives second joint driving mechanism 2, third by ball screw framework 1_2
Joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint
Driving mechanism 7 and the 8th joint driving mechanism 8 and surgical instrument executing agency M relative to first joint driving mechanism
1 connected fixing seat 1_1 is moved axially along the one 9_2 axis direction of arm section of surgical instrument executing agency M；
The second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint
Driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8 pass through wirerope point
The second joint executing agency 10, third joint executing agency 11, the 4th joint of surgical instrument executing agency M Dui Ying not be driven to hold
Row mechanism 12, the 5th joint executing agency 13, the 6th joint executing agency 14, the 7th joint executing agency 15 and the 8th joint are held
The rotation of row mechanism 16；
The second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint
Driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8 are each by one
Interface clutch discs 2_4~8_4 is connected with the surgical instrument executing agency M；
The second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint
Driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 are identical with the structure of the 8th joint driving mechanism 8, respectively
It is connected from including a motor 2_1~8_1, motor 2_1~8_1 by shaft joint 2_2~8_2 with transmission shaft 2_3~8_3,
Transmission shaft 2_3~the 8_3 is connected with interface clutch discs 2_4~8_4 corresponding thereto；
Further, the second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4,
The institute of 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8
The both ends transmission shaft 2_3~8_3 stated pass through bearing 2_5~8_5 and bearing 2_6~8_6 axial restraint, bearing 2_5~8_5 and axis
2_6~8_6 is held to be fixed on pedestal 1_3.
Further, the second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4,
The institute of 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8
" D " shaped sections of the transmission shaft 2_3~8_3 stated form interference fit, and transmission shaft 2_3~8_3 is circumferential by " D " shaped sections
It is fixed.
Further, the second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4,
5th joint driving mechanism 5, the 6th joint driving mechanism 6 are single-row on the pedestal 1_3 to be sequentially connected in series arrangement；7th joint
Driving mechanism 7 and the 8th joint driving mechanism 8 are arranged in parallel on the pedestal 1_3 with the 6th joint driving mechanism 6.
Further, the interface pedestal 1_3 includes base housing 1_3_1 and base outer cover 1_3_2, the pedestal
Shell 1_3_1 is equipped with twice positioning convex platform, and the two sides base housing 1_3_1 are respectively equipped with two stay bolt holes, the length
Bolt hole is connected with base outer cover 1_3_2.
Further, there are two the base outer cover 1_3_2, it is mounted and fixed to the two of base housing 1_3_1 respectively
Side；Guide chute is designed above base outer cover 1_3_2, guide chute top is in " horn mouth " shape, to facilitate surgical instrument to hold
The installation of row mechanism M, guide chute end and intermediate channel bottom are in " circular arc " shape, guide chute end above base outer cover 1_3_2
And " circular arc " shape sliding slot slot bottom opening direction at middle part is vertical with guide chute axis direction, and the guiding for being somebody's turn to do " circular arc " shape is sliding
The fixed pin shaft 1_3_4 of slot end and intermediate channel bottom and surgical instrument executing agency M form " interference " cooperation, to prevent surgical device
The fixed pin shaft 1_3_4 of tool executing agency M is " sliding from the guide chute end and intermediate channel bottom above base outer cover 1_3_2
Out ", surgical instrument executing agency M is caused " to separate " with quick-changing mechanism N；
Further, surgical instrument executing agency M can be installed to quick change along the guide chute above base outer cover 1_3_2
On mechanism N；Design is there are two stay bolt hole on base outer cover 1_3_2, two stay bolt holes above base outer cover 1_3_2 with
The long axially bored line in stay bolt hole above base housing 1_3_1 is vertical, and base outer cover 1_3_2 is facilitated to be mounted and fixed to base housing
The relative mounting positions of base outer cover 1_3_2 and base housing 1_3_1 are adjusted when on 1_3_1.
Further, the quick-changing mechanism N interface pedestal 1_3 for minimally invasive surgery single hole operating robot, is also wrapped
Include a retaining mechanism 1_3_3 for being fixed to surgical instrument executing agency M on interface pedestal 1_3；The locking machine
Structure 1_3_3 includes two groups, and every group includes a locking hook, and 1_3_3_1 and locking hook 1_3_3_2 are linked up in respectively locking,
One end of locking hook 1_3_3_1 and locking hook 1_3_3_2 are rotatably mounted on the same base outer cover 1_3_2, and locking is hung
Hook 1_3_3_1 and the locking hook 1_3_3_2 other end are equipped with groove, and corresponding position is equipped on surgical instrument executing agency M shell
The boss of corresponding position on groove and surgical instrument executing agency M shell above 1_3_3_1,1_3_3_2 is linked up in boss, locking
Cooperation is used for fixation surgical instrument executing agency M.
A ball screw framework 1_2 can be used in first joint driving mechanism 1, is also possible to one and stretches
Bar, is also possible to the elevating lever of the drivings such as hydraulic, cylinder, as long as being able to achieve the second joint driving mechanism 2, third is closed
Save driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the drive of the 7th joint
Motivation structure 7 and the 8th joint driving mechanism 8 and surgical instrument executing agency M relative to first joint driving mechanism 1
Connected fixing seat 1_1 is moved axially along the one 9_2 axis direction of arm section of surgical instrument executing agency M.
Working principle of the utility model is:
First joint driving mechanism 1 realizes that axial advancement is moved along the axis of one 9_2 of arm section of surgical instrument executing agency M
Dynamic: the motor 1_4 on the first joint driving mechanism 1 of starting rotates clockwise its output shaft, drives the first joint driving mechanism
Shaft coupling 1_5, lead screw 1_2_2 on 1 are rotated clockwise, and drive the nut 1_2_1 on the first joint driving mechanism 1 to realize axial
Advance and move, the nut 1_2_1 on the first joint driving mechanism 1 drives second joint driving mechanism 2, third joint driving mechanism
3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6,7 and of the 7th joint driving mechanism
The pedestal 1_3 of 8th joint driving mechanism 8 is relative to the fixing seat 1_1 being connected with first joint driving mechanism 1 along arm
The axis direction of one 9_2 of section, which advances, to be moved；And then it realizes and drives second joint driving mechanism 2, third joint driving mechanism 3, the
Four joint driving mechanisms 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th close
Save arm section of the driving mechanism 8 relative to the fixing seat 1_1 being connected with the first joint driving mechanism 1 along surgical instrument executing agency M
The axis of one 9_2 realizes that axial advancement is mobile.
First joint driving mechanism 1 is retired after the axis realization axial direction of one 9_2 of arm section of surgical instrument executing agency M
Dynamic: the motor 1_4 on the first joint driving mechanism 1 of starting rotates counterclockwise its output shaft, drives the first joint driving mechanism
Shaft coupling 1_5, lead screw 1_2_2 on 1 are rotated counterclockwise, and drive the nut 1_2_1 on the first joint driving mechanism 1 to realize axial
Movement is retreated, the nut 1_2_1 on the first joint driving mechanism 1 drives second joint driving mechanism 2, third joint driving mechanism
3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6,7 and of the 7th joint driving mechanism
The pedestal 1_3 of 8th joint driving mechanism 8 is relative to the fixing seat 1_1 being connected with first joint driving mechanism 1 along arm
The axis direction of one 9_2 of section retreats movement；And then it realizes and drives second joint driving mechanism 2, third joint driving mechanism 3, the
Four joint driving mechanisms 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th close
Save arm section of the driving mechanism 8 relative to the fixing seat 1_1 being connected with the first joint driving mechanism 1 along surgical instrument executing agency M
The axis of one 9_2 realizes that axial retreat is moved.
The axis realization around transmission shaft 2_3 of the interface clutch discs 2_4 of second joint driving mechanism 2 rotates clockwise: opening
Motor 2_1 in dynamic second joint driving mechanism 2, rotates clockwise its output shaft, drives in second joint driving mechanism 2
Shaft coupling 2_2, transmission shaft 2_3, interface clutch discs 2_4 are rotated clockwise, and two 10_2 of arm section of surgical instrument executing agency M is opposite
Two 10_2 of arm section is set to change with one 9_2 relative angle of arm section in one 9_2 of arm section active rotation clockwise.
Start the motor 3_1 on third joint driving mechanism 3 simultaneously, rotate clockwise its output shaft, third is driven to close
Shaft coupling 3_2, transmission shaft 3_3, interface clutch discs 3_4 in section driving mechanism 3 are rotated clockwise, and second joint 10_1 is being carried out
Third joint 11_1 is also carrying out rotation clockwise while rotation clockwise, and appropriate ratio is arranged, can make third joint 11_
1 with second joint 10_1 " steering is identical, and revolving speed is equal ", two 10_2 of arm section of surgical instrument executing agency M is relative to arm section one
9_2 active rotation clockwise and make two 10_2 of arm section and when one 9_2 relative angle of arm section changes, three 11_2 of arm section relative to
Passive rotation does not occur and three 11_2 of arm section is made not change with two 10_2 relative angle of arm section by two 10_2 of arm section, reaches and passes through
The purpose of " decoupling " is realized in control.
Start the motor 4_1 on the 4th joint driving mechanism 4 simultaneously, rotate clockwise its output shaft, drives the 4th to close
Shaft coupling 4_2, transmission shaft 4_3, interface clutch discs 4_4 in section driving mechanism 4 are rotated clockwise, and second joint 10_1 is being carried out
4th joint 12_1 is also carrying out rotation clockwise while rotation clockwise, and appropriate ratio is arranged, can make the 4th joint 12_
1 with second joint 10_1 " steering is identical, and revolving speed is equal ", two 10_2 of arm section of surgical instrument executing agency M is relative to arm section one
9_2 active rotation clockwise and make two 10_2 of arm section and when one 9_2 relative angle of arm section changes, four 12_2 of arm section relative to
Passive rotation does not occur and four 12_2 of arm section is made not change with three 11_2 relative angle of arm section by three 11_2 of arm section, reaches and passes through
The purpose of " decoupling " is realized in control.
Start the motor 5_1 on the 5th joint driving mechanism 5 simultaneously, rotate clockwise its output shaft, drives the 5th to close
5 shaft coupling 5_2, transmission shaft 5_3, interface clutch discs 5_4 are rotated clockwise in section driving mechanism, and second joint 10_1 is being carried out
5th joint 13_1 is also carrying out rotation clockwise while rotation clockwise, and appropriate ratio is arranged, can make the 5th joint 13_
1 with second joint 10_1 " steering is identical, and revolving speed is equal ", two 10_2 of arm section of surgical instrument executing agency M is relative to arm section one
9_2 active rotation clockwise and make two 10_2 of arm section and when one 9_2 relative angle of arm section changes, five 13_2 of arm section relative to
Passive rotation does not occur and five 13_2 of arm section is made not change with four 12_2 relative angle of arm section by four 12_2 of arm section, reaches and passes through
The purpose of " decoupling " is realized in control.
Start the motor 6_1 on the 6th joint driving mechanism 6 simultaneously, rotate clockwise its output shaft, drives the 6th to close
6 shaft coupling 6_2, transmission shaft 6_3, interface clutch discs 6_4 are rotated clockwise in section driving mechanism, and second joint 10_1 is being carried out
6th joint 14_1 is also carrying out rotation clockwise while rotation clockwise, and appropriate ratio is arranged, can make the 6th joint 14_
1 with second joint 10_1 " steering is identical, and revolving speed is equal ", two 10_2 of arm section of surgical instrument executing agency M is relative to arm section one
9_2 active rotation clockwise and make two 10_2 of arm section and when one 9_2 relative angle of arm section changes, six 14_2 of arm section relative to
Passive rotation does not occur and six 14_2 of arm section is made not change with five 13_2 relative angle of arm section by five 13_2 of arm section, reaches and passes through
The purpose of " decoupling " is realized in control.
Start the motor 7_1 on the 7th joint driving mechanism 7 simultaneously, rotate clockwise its output shaft, drives the 7th to close
Shaft coupling 7_2, transmission shaft 7_3, interface clutch discs 7_4 in section driving mechanism 7 are rotated clockwise, and second joint 10_1 is being carried out
7th joint 15_1 is also carrying out rotation clockwise while rotation clockwise, and appropriate ratio is arranged, can make the 7th joint 15_
1 with second joint 10_1 " steering is identical, and revolving speed is equal ", two 10_2 of arm section of surgical instrument executing agency M is relative to arm section one
9_2 active rotation clockwise and make two 10_2 of arm section and when one 9_2 relative angle of arm section changes, seven 15_2 of arm section relative to
Passive rotation does not occur and seven 15_2 of arm section is made not change with six 14_2 relative angle of arm section by six 14_2 of arm section, reaches and passes through
The purpose of " decoupling " is realized in control.
Start the motor 8_1 on the 8th joint driving mechanism 8 simultaneously, rotate clockwise its output shaft, drives the 8th to close
Shaft coupling 8_2, transmission shaft 8_3, interface clutch discs 8_4 in section driving mechanism 8 are rotated clockwise, and second joint 10_1 is being carried out
8th joint 16_1 is also carrying out rotation clockwise while rotation clockwise, and appropriate ratio is arranged, can make the 8th joint 16_
1 with second joint 10_1 " steering is identical, and revolving speed is equal ", two 10_2 of arm section of surgical instrument executing agency M is relative to arm section one
9_2 active rotation clockwise and make two 10_2 of arm section and when one 9_2 relative angle of arm section changes, eight 16_2 of arm section relative to
Passive rotation does not occur and eight 16_2 of arm section is made not change with six 14_2 relative angle of arm section by six 14_2 of arm section, reaches and passes through
The purpose of " decoupling " is realized in control.
The axis realization around gear shaft 2_3 of the interface clutch discs 2_4 of second joint driving mechanism 2 rotates counterclockwise: the
The axis realization around gear shaft 2_3 of the interface clutch discs 2_4 of two joint driving mechanisms 2 is rotated counterclockwise to be driven with second joint
The interface clutch discs 2_4 of mechanism 2 around gear shaft 2_3 axis realization rotate clockwise " drive path is identical, turn to phase
Instead ".
Third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint drive machine
The axis realization around gear shaft 3_3~6_3 of interface clutch discs 3_4~6_4 of structure 6 rotates clockwise: driving with second joint
The axis realization around gear shaft 2_3 of the interface clutch discs 2_4 of mechanism 2 rotates clockwise " kind of drive is similar ", is the pass
It saves driving mechanism actively to rotate, by (the close end surgical instrument executing agency M joint behind the active cradle head driving mechanism
The side of (eight 16_1 of seven 15_1 of joint and joint)) all joint driving mechanisms simultaneously actively rotate, appropriate ratio is set, can
So that (close to the end surgical instrument executing agency M joint (seven 15_1 of joint and joint behind the active cradle head driving mechanism
Eight 16_1) side) all joint driving mechanisms " steering is identical, revolving speed phase with the active cradle head driving mechanism
Deng ", make the arm section of the surgical instrument executing agency M of the active cradle head driving mechanisms control relative to previous alternate arm section
(far from the end surgical instrument executing agency M joint (eight 16_1 of seven 15_1 of joint and joint) side) clockwise active rotation and
The arm section and previous alternate arm section for making the surgical instrument executing agency M of the active cradle head driving mechanisms control are (far from operation
The side in the end instrument executing agency M joint (eight 16_1 of seven 15_1 of joint and joint)) for relative angle when changing, this is actively
(close to the end surgical instrument executing agency M joint (eight 16_1 of seven 15_1 of joint and joint) behind cradle head driving mechanism
Side) the corresponding control of all joint driving mechanisms surgical instrument executing agency M arm section relative to the active cradle head
Passive rotation does not occur and makes the active cradle head driving mechanism for the arm section of the surgical instrument executing agency M of driving mechanisms control
All joints (close to the side of the end surgical instrument executing agency M joint (eight 16_1 of seven 15_1 of joint and joint)) are driven below
The arm section of the surgical instrument executing agency M of the corresponding control of motivation structure and the surgical instrument of the active cradle head driving mechanisms control
The arm section relative angle of executing agency M does not change, and achievees the purpose that realize " decoupling " by control.
Third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint drive machine
The axis realization around gear shaft 3_3~6_3 of interface clutch discs 3_4~6_4 of structure 6 rotates counterclockwise: third joint drive machine
Structure 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6 interface clutch discs 3_4~6_4
Around gear shaft 3_3~6_3 axis realization rotate counterclockwise with third joint driving mechanism 3, the 4th joint driving mechanism 4,
5th joint driving mechanism 5, the 6th joint driving mechanism 6 interface clutch discs 3_4~6_4 the axis around gear shaft 3_3~6_3
Line realization rotates clockwise " drive path is identical, turns to opposite ".
The axis realization around transmission shaft 7_3 of the interface clutch discs 7_4 of 7th joint driving mechanism 7 rotates clockwise: opening
Motor 7_1 on dynamic 7th joint driving mechanism 7, rotates clockwise its output shaft, drives on the 7th joint driving mechanism 7
Shaft coupling 7_2, transmission shaft 7_3, interface clutch discs 7_4 are rotated clockwise, and seven 15_2 of arm section of surgical instrument executing agency M is opposite
Seven 15_2 of arm section is set to change with six 14_2 relative angle of arm section in six 14_2 of arm section active rotation clockwise.
The axis realization around sun wheel shaft 7_3 of the interface clutch discs 7_4 of 7th joint driving mechanism 7 rotates counterclockwise:
The axis realization around sun wheel shaft 7_3 of the interface clutch discs 7_4 of 7th joint driving mechanism 7 rotates counterclockwise and the 7th joint
The interface clutch discs 7_4 of driving mechanism 7 around sun wheel shaft 7_3 axis realization rotate clockwise " drive path is identical, turn to
On the contrary ".
The axis realization around transmission shaft 8_3 of the interface clutch discs 8_4 of 8th joint driving mechanism 8 rotates clockwise: opening
Motor 8_1 on dynamic 8th joint driving mechanism 8, rotates clockwise its output shaft, drives 8 on the 8th joint driving mechanism
Shaft coupling 8_2, transmission shaft 8_3, interface clutch discs 8_4 are rotated clockwise, and eight 16_2 of arm section of surgical instrument executing agency M is opposite
Eight 16_2 of arm section is set to change with six 14_2 relative angle of arm section in six 14_2 of arm section active rotation clockwise.
The axis realization around sun wheel shaft 8_3 of the interface clutch discs 8_4 of 8th joint driving mechanism 8 rotates counterclockwise:
The axis realization around sun wheel shaft 8_3 of the interface clutch discs 8_4 of 8th joint driving mechanism 8 rotates counterclockwise and the 8th joint
The interface clutch discs 8_4 of driving mechanism 8 around sun wheel shaft 8_3 axis realization rotate clockwise " drive path is identical, turn to
On the contrary ".
The adjustment of relative mounting location between base outer cover 1_3_2 and base housing 1_3_1:
Design is there are two stay bolt hole on base outer cover 1_3_2, and the two sides base housing 1_3_1 separately design that there are two long
Bolt hole, the long axially bored line in stay bolt hole above two stay bolt holes and base housing 1_3_1 above base outer cover 1_3_2 hang down
It directly, can be by adjusting base outer cover 1_3_2 and pedestal when two base outer cover 1_3_2 are fixed on base housing 1_3_1
The fixed position relative in the stay bolt hole of shell 1_3_1 is opposite with the installation of base housing 1_3_1 to adjust base outer cover 1_3_2
Position.
Installation and removal between surgical instrument executing agency M and joint driving mechanism N:
When surgical instrument executing agency M is installed in joint driving mechanism N, surgical instrument executing agency M along pedestal outside
Cover 1_3_2 above " horn mouth " shape guide chute top slide into base outer cover 1_3_2 above guide chute end and in
Portion's slot bottom, the fixed pin shaft of guide chute end and intermediate channel bottom and surgical instrument executing agency M above base outer cover 1_3_2
" interference " cooperation is formed, while 1_3_3_1,1_3_3_ are linked up in two lockings rotated above two base outer cover 1_3_2 respectively
2, make the boss of corresponding position on the groove and surgical instrument executing agency M shell above locking hook 1_3_3_1,1_3_3_2
Cooperation, to prevent the fixed pin shaft 1_3_4 of surgical instrument executing agency M " sliding from the guide chute above base outer cover 1_3_2
Out ", surgical instrument executing agency M is caused " to separate " with joint driving mechanism N.Meanwhile the twice positioning on base housing 1_3_1
Boss can be positioned and be fixed to surgical instrument executing agency M；
When surgical instrument executing agency M is separated from joint driving mechanism N, while two base outer cover 1_ are rotated respectively
1_3_3_1,1_3_3_2 are linked up in two lockings above 3_2, make groove and hand above locking hook 1_3_3_1,1_3_3_2
The boss separation of corresponding position on art instrument executing agency M shell, surgical instrument executing agency M is along on base outer cover 1_3_2
The guide chute end and intermediate channel bottom in face skid off base outer cover 1_3_2 from the guide chute top of " horn mouth " shape, make hand
Art instrument executing agency M " is separated " with joint driving mechanism N.
Embodiment 2
Illustrate present embodiment in conjunction with Fig. 9~Figure 10, on the basis of the technical solution of embodiment one, one kind can be had
The layout of the single hole surgical robot quick replacement mechanism of the control decoupling of linear joint is changed to the structure in 9~Figure 10 of attached drawing.It will
One of technical solution of embodiment one has the cloth of the single hole surgical robot quick replacement mechanism of the control decoupling of linear joint
Office is adjusted to the technical solution of embodiment two, while the layout of the gear box of surgical instrument executing agency M being also adjusted to implement
The technical solution of example two equally correctly can drive and control decoupling.
A kind of single hole surgical robot quick replacement mechanism N of above-mentioned control decoupling with linear joint can be applied to double end
The driving and control decoupling of class instrument, such as clamp class instrument, the driving for shearing class instrument and control decoupling；Above-mentioned one kind is had
The 8th joint driving mechanism 8 of single hole surgical robot quick replacement mechanism of the control decoupling of linear joint removes, can be with such as Fig. 4
By it is a kind of with linear joint control decoupling single hole surgical robot quick replacement mechanism be applied to single head class instrument driving and
Class instrument, the driving of 30 ° of hysteroscope class instruments and control decoupling are such as cut in control decoupling.It will be above-mentioned a kind of with linear joint
The 7th joint driving mechanism 7, the 8th joint driving mechanism 8 for controlling the single hole surgical robot quick replacement mechanism of decoupling remove, can
A kind of single hole surgical robot quick replacement mechanism of control decoupling with linear joint is applied to 360 ° of hysteroscope class instruments
Driving and control decoupling.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
In the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
In protection scope.
It is above-mentioned although specific embodiments of the present invention are described with reference to the accompanying drawings, but it is not practical new to this
The limitation of type protection scope, those skilled in the art should understand that, based on the technical solution of the present invention, ability
Field technique personnel do not need to make the creative labor the various modifications or changes that can be made still in the protection model of the utility model
Within enclosing.
Claims (9)
1. a kind of single hole surgical robot quick replacement mechanism of the control decoupling with linear joint, which is characterized in that including one
Fixing seat is equipped with the first, second, third, fourth, the five, the six, the 7th and the 8th joint drive in the fixing seat
Mechanism；
First joint driving mechanism is mounted in a fixing seat, described second, third, the 4th close, the 5th, the
Six, the 7th and the 8th joint driving mechanism is mounted on the same pedestal, first joint driving mechanism also with the bottom
Seat is connected；The pedestal can axially be moved relative to the fixing seat along one axis direction of arm section of surgical instrument executing agency
It is dynamic；And then realize that the joint driving mechanism of second, third, fourth, fifth, the six, the 7th and the 8th and surgical instrument are held
Row mechanism is relative to the fixing seat being connected with first joint driving mechanism along one axis of arm section of surgical instrument executing agency
The axial movement of line direction；
The joint driving mechanism of second, third, fourth, fifth, the six, the 7th and the 8th is each by an interface clutch
Disk is connected with the surgical instrument executing agency；The joint of second, third, fourth, fifth, the six, the 7th and the 8th
Driving mechanism respectively corresponds the second, third, fourth, fifth of driving surgical instrument executing agency, the six, the 7th by driving member
With the rotation of the 8th joint executing agency；
It is the second, third, fourth, fifth, the six, the 7th identical with the structure of the 8th joint driving mechanism, respectively include
One motor, motor driven transmission shaft rotation, the transmission shaft are connected with interface clutch discs corresponding thereto.
2. a kind of single hole surgical robot quick replacement mechanism of control decoupling with linear joint as described in claim 1,
It is characterized in that, the both ends of the drive shaft of the joint driving mechanism of the second, third, fourth, fifth, the six, the 7th and the 8th is logical
Bearing axial restraint is crossed, bearing is fixed on the base.
3. a kind of single hole surgical robot quick replacement mechanism of control decoupling with linear joint as described in claim 1,
It is characterized in that, the transmission shaft of the joint driving mechanism of the second, third, fourth, fifth, the six, the 7th and the 8th
Section is in " D " font, and transmission shaft is circumferentially fixed by " D " shaped sections.
4. a kind of single hole surgical robot quick replacement mechanism of control decoupling with linear joint as described in claim 1,
It is characterized in that, the second, third, fourth, fifth, the 6th joint driving mechanism is single-row on the pedestal is sequentially connected in series
Arrangement；7th joint driving mechanism and the 8th the joint driving mechanism cloth in parallel on the pedestal with the 6th joint driving mechanism
It sets.
5. a kind of single hole surgical robot quick replacement mechanism of control decoupling with linear joint as described in claim 1,
It is characterized in that, the pedestal includes base housing and base outer cover, and the base housing is equipped with twice positioning convex platform, bottom
Seat shell body two sides are respectively equipped with two stay bolt holes, and the stay bolt hole is connected with base outer cover.
6. a kind of single hole surgical robot quick replacement mechanism of control decoupling with linear joint as claimed in claim 5,
It is characterized in that, there are two the base outer covers, is mounted and fixed to the two sides of base housing respectively；It is designed above base outer cover
Guide chute, guide chute top are in " horn mouth " shape；Guide chute end and intermediate channel bottom are in " circle above base outer cover
" circular arc " shape sliding slot slot bottom opening direction at arc " shape, guide chute end and middle part is vertical with guide chute axis direction, and
It is somebody's turn to do fixed pin shaft formation " interference " cooperation of the guide chute end and intermediate channel bottom and surgical instrument executing agency of " circular arc " shape.
7. a kind of single hole surgical robot quick replacement mechanism of control decoupling with linear joint as claimed in claim 5,
It is characterized in that, stay bolt hole there are two designs on the base outer cover, two stay bolt holes and pedestal above base outer cover
The long axially bored line in stay bolt hole of housing upper face is vertical, adjusts outside pedestal when base outer cover being facilitated to be mounted and fixed on base housing
The relative mounting positions of cover and base housing.
8. a kind of single hole surgical robot quick replacement mechanism of control decoupling with linear joint as claimed in claim 5,
It is characterized in that, further includes a retaining mechanism for being fixed to surgical instrument executing agency in interface pedestal；The lock
Tight mechanism includes two groups, and every group includes a locking hook, and one end of two locking hooks is rotatably mounted on outside the same pedestal
On cover, the locking hook other end is equipped with groove, and corresponding position is equipped with boss on surgical instrument executing agency shell, locks on hook
The boss cooperation of corresponding position is used for fixation surgical instrument executing agency on the groove and surgical instrument executing agency shell in face.
9. a kind of single hole surgical robot quick replacement mechanism of control decoupling with linear joint as described in claim 1,
It is characterized in that, first joint driving mechanism is that a ball screw framework or a telescopic rod or hydraulic, cylinder drive
Dynamic elevating lever.
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| CN201820297745.2U CN208710056U (en) | 2018-03-02 | 2018-03-02 | A kind of single hole surgical robot quick replacement mechanism of the control decoupling with linear joint |
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| CN201820297745.2U CN208710056U (en) | 2018-03-02 | 2018-03-02 | A kind of single hole surgical robot quick replacement mechanism of the control decoupling with linear joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108158660A (en) * | 2018-03-02 | 2018-06-15 | 山东大学齐鲁医院 | A kind of single hole surgical robot quick replacement mechanism of the control decoupling with linear joint |
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- 2018-03-02 CN CN201820297745.2U patent/CN208710056U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108158660A (en) * | 2018-03-02 | 2018-06-15 | 山东大学齐鲁医院 | A kind of single hole surgical robot quick replacement mechanism of the control decoupling with linear joint |
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