CN209091621U - A kind of integral layout structure of the single hole operating robot with rotation positioning joint - Google Patents
A kind of integral layout structure of the single hole operating robot with rotation positioning joint Download PDFInfo
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- CN209091621U CN209091621U CN201820332111.6U CN201820332111U CN209091621U CN 209091621 U CN209091621 U CN 209091621U CN 201820332111 U CN201820332111 U CN 201820332111U CN 209091621 U CN209091621 U CN 209091621U
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Abstract
The utility model discloses a kind of integral layout structures of single hole operating robot with rotation positioning joint, are made of three surgical instruments and sheath card etc..Two of them are surgical procedure instrument one and surgical procedure instrument two, another is operation viewing instruments；Three surgical instrument parallel arrangements.Surgical instrument completely solves the mutual movement coupled problem generated when each joint rotation of surgical instrument executing agency using mechanically decoupled or control decoupling mechanism；The integral layout of the single hole operating robot with rotation positioning joint for micro-wound surgical operation of the utility model is simple for structure rationally, compact layout, occupies little space, minimizes, lightweight, mode is dismounted using surgical instrument executing agency and quick-changing mechanism quick change, replace different surgical instruments with can be convenient, the flexibility used, convenience and the safety of single hole operating robot are enhanced, the popularization and application of single hole operating robot are conducive to.
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 are fixed with rotation
The integral layout structure of the single hole operating robot in position joint.
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, the light-weighted list with rotation positioning joint for micro-wound surgical operation
The integral layout structure of hole operating robot, 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
The integral layout knot of type, the light-weighted single hole operating robot with rotation positioning joint for micro-wound surgical operation
Structure, concrete scheme are as follows:
A kind of single hole operating robot integral layout structure with rotation positioning joint, including three surgical instruments,
In two be surgical procedure instrument one and surgical procedure instrument two, another for operation viewing instruments；Three surgical instrument axis
Parallel arrangement, the surgical instrument executing agency of surgical instrument, which both passes through sheath card and enters inside of human body, to be operated and observes,
Sheath fixing is scheduled at the single holes surgical aperture such as human body navel.
The surgical instrument one separately includes quick-changing mechanism and surgical instrument executing agency two parts；Surgical procedure instrument
One quick-changing mechanism separately includes a fixing seat, and first, second, third, fourth, is equipped in the fixing seat
Five, the six, the 7th and the 8th joint driving mechanism；
Described first, second, third, fourth of the quick-changing mechanism of the surgical procedure instrument one, the five, the 6th,
7th and the 8th joint driving mechanism is mounted on the same pedestal, described first, second, third, fourth, the five, the 6th,
7th and the 8th joint driving mechanism executes instrument with the operation each by an interface clutch discs and is connected；
First, second, third, fourth, the five, the six, the 7th and of the quick-changing mechanism of the surgical procedure instrument one
8th joint driving mechanism by driving member respectively correspond driving surgical procedure instrument one surgical instrument executing agency first,
The rotation of the joint executing agency of second, third, fourth, fifth, the six, the 7th and the 8th.
The surgical instrument executing agency of the surgical procedure instrument one includes first, second, third, fourth, the 5th, the
Six, the seven, the 8th joint executing agency；Eight joint executing agencies include 8 freedom degrees, and 8 freedom degrees are from end
Gear box one end starts, successively are as follows: around the first joints axes x-axis to rotation freedom degree, around second joint axis x-axis to rotation from
By spending, around third joints axes z-axis to rotation freedom degree, around the 4th joints axes y-axis to rotation freedom degree, around the 5th joint shaft
Line z-axis is to rotation freedom degree, around the 6th joints axes x-axis to rotation freedom degree, around the 7th joints axes y-axis to rotation freedom degree
I, around the 7th joints axes y-axis to rotation freedom degree II.The first, second, third, fourth, the five, the six, the 7th joints execute
Mechanism each adjacent two joint freedom degrees axis direction spatial vertical, the 7th and the 8th two joint freedom degrees of joint executing agency
Axis is overlapped.
First, second, third, fourth, the 5th, the of the surgical instrument executing agency of the surgical procedure instrument one
Six, the 7th is identical with the structure in the final drive box of the 8th executing agency, respectively include a transmission wire wheel axis, line wheel,
Interface clutch discs；Interface clutch discs one end connecting joint driving mechanism, the other end is connected with transmission wire wheel axis, described
Transmission wire wheel axis on line wheel is installed；The rotation of transmission wire wheel axis and line wheel, transmission are driven by the rotation of interface clutch discs
Wire wheel axis and line wheel are respectively corresponded by wirerope drives the first joint, second joint, third joint, the 4th joint, the 5th to close
Section, the 6th joint, the 7th joint and the rotation of the 8th joint；
Described one connecting sleeve one end of arm section and the final drive box are connected, and one connecting sleeve of arm section has
Two rigid bent joints, each rigidity bent joint are equipped with one group of directive wheel one and four group tensioning wheel one, are used for wirerope
Guiding and tensioning；
The first joint of control, second joint, third pass are installed above the final drive box connecting sleeve connector
Section, the 4th joint, the 5th joint, the 6th joint, the 7th joint, a guide wheel shaft of the 8th joint relative motion and two
Bearing up pulley axis, wherein one group of directive wheel two and arm section a connection piece one are installed above the guide wheel shaft, two tensionings
One group of tensioning wheel two is installed respectively, described arm section a connection piece one is equipped with control second joint, third above above wheel shaft
Joint, the 4th joint, the 5th joint, the 6th joint, the 7th joint, the 8th joint relative motion two tension wheel shafts, wherein
One group of tensioning wheel 3 is installed respectively, described arm section a connection piece one has rope groove above, uses above two tension wheel shafts
In the opposite rotation of control arm Duan Yiyu final drive box connecting sleeve；
Two axis of directive wheel pendulum opposite with the first joint above first joint final drive box connecting sleeve connector
Shaft axis is overlapped, two axis of directive wheel and two tensioning wheels two above the first joint final drive box connecting sleeve connector
Axis and two three axis of tensioning wheel above arm section a connection piece one are parallel, and the first joint controls the same joint rotation
Adjacent end gear box connecting sleeve connector and arm section a connection piece one in the directive wheel two and tensioning wheel two, three installed
Heart face is in the same plane, and the directive wheel one, two can be freely rotated relative to the guide wheel shaft, the tensioning
Wheel one, two, three can be freely rotated relative to the tension wheel shaft；
Second, third, fourth, fifth, the six, the seven, the 8th joint executing agencies and first joint executes machine
Structure structure is essentially identical, wherein the rotation axis weight of the directive wheel axis of the third joint executing agency and third joint
It closes, there are two tensioning wheel four, two tensioning wheels for the same side installation of three connector of arm section, one rope grooves on
On four axistyle three connector one of two tensioning wheels four and arm section vertical and described with the rope groove axis on five connector one of arm section
Rope groove tangent line be overlapped, the opposite rotation for control arm Duan Sanyu arm section two；
The 4th joint, the 5th joint, the 6th joint, the 7th are installed in three connecting sleeve of third joint arm section
Joint, the 8th joint directive wheel and tensioning wheel, two tensioning wheels for controlling same joint are arranged in directive wheel two sides, and control
Two tensioning wheel axis for making the same joint rotation are vertical with directive wheel axis, and two tensioning wheels and directive wheel tangent line weight
It closes.
The directive wheel axis of the 5th joint executing agency is overlapped with the rotation axis in the 5th joint, the arm section
There are two tensioning wheel five, two five axis of tensioning wheel and arm sections five for the same side installation of five connectors, one rope grooves on
Rope groove tangent line weight on vertical and described five connector one of two tensioning wheels five and arm section of rope groove axis on connector one
It closes, the opposite rotation for control arm Duan Wuyu arm Duan Si；
6th joint, the 7th joint, the 8th joint guiding are installed in five connecting sleeve of the 5th joint arm section
Wheel and tensioning wheel, two tensioning wheels for controlling same joint are arranged in directive wheel two sides, and control the same joint rotation
Two tensioning wheel axis it is vertical with directive wheel axis, and two tensioning wheels and directive wheel tangent line are overlapped.
Further, in the joint executing agency of described first, second, third, fourth, the five, the six, the 7th and the 8th
Final drive box in line wheel two sides be mounted on guide frame.
Further, in the first, second, third, fourth, the five, the six, the 7th and the 8th joint executing agency
Line wheel and transmission wire wheel axis on have steel wire rope groove, be used for winding wire ropes；The second, third, fourth, fifth, the 6th,
Grooved hole on the rope groove in line wheel and transmission wire wheel axis in seven and the 8th joint executing agency, steel cord ends are embedded in after knotting
In slot, for fixing steel cord ends.
Further, the first, second, third, fourth, the five, the six, the 7th and the 8th joint executing agency
Corresponding joint arm section connector rope groove grooved hole, steel cord ends are embedded in slot after knotting, for fixing steel cord ends.
Further, it to prevent wirerope from deviating from from directive wheel and tensioning wheel, can be installed in the position close to tensioning wheel
Guide hole plate, make wirerope moved into along directive wheel and tensioning wheel tangent line lay out directive wheel and tensioning wheel after from the guiding of guide hole plate
Adjacent segment is pierced by hole.
Further, the first, second, third, fourth, the five, the six, the 7th and the 8th joint executing agency
The line wheel is set on the transmission wire wheel axis, has arc-shaped long spiral shell on the line wheel and the transmission wire wheel axis
Keyhole, relative rotation is adjusted between the line wheel and the transmission wire wheel axis makes steel wire reach suitable in drive path
It is connected with and fastens after rate of tension.
The driving of quick-changing mechanism and decoupling-structure mode one-are mechanically decoupled:
First joint driving mechanism of the surgical procedure instrument one includes a motor, motor-driven gear axis rotation
Turn, the gear shaft is connected with interface clutch discs corresponding thereto；
The second, third, fourth, fifth of the surgical procedure instrument one and the structure phase of the 6th joint driving mechanism
Together, respectively include a motor, the motor driven sun wheel shaft rotation, be equipped in the sun wheel shaft big sun gear and
Small sun gear, big sun gear and small sun gear are engaged with three planetary gears being mounted on planet carrier gear axis, three planetary gears
With small sun gear external toothing, three planetary gears and big sun gear internal messing, three planetary gears are uniformly distributed around sun wheel shaft axis, institute
The planet carrier gear axis stated is connected with interface clutch discs corresponding thereto；
The 7th of the surgical procedure instrument one is identical with the structure of the 8th joint driving mechanism, respectively includes an electricity
Machine, motor driven sun wheel shaft rotation, is equipped with big sun gear and small sun gear, big sun gear in the sun wheel shaft
It is engaged with small sun gear with three planetary gears being mounted on planet carrier, three planetary gears and small sun gear external toothing, three rows
Star-wheel and big sun gear internal messing, three planetary gears are evenly distributed with around sun wheel shaft axis, the planet carrier and corresponding thereto
Interface clutch discs be connected；
Between first, second, third, fourth, the 5th and the 6th joint driving mechanism of the surgical procedure instrument one
It is mounted on a transition gear axle；6th and the 7th joint driving mechanism and the 8th joint driving mechanism it
Between be separately installed with a transition gear axle；Transition gear is fitted without between 7th and the 8th joint driving mechanism
Axis；
The gear shaft of the second joint driving mechanism of the surgical procedure instrument one and first, second joint are driven
Transition gear axle external toothing between motivation structure, transition gear axle and institute between first, second joint driving mechanism
The big sun gear external toothing for the second joint driving mechanism stated；
The planet carrier gear axis of the second joint driving mechanism of the surgical procedure instrument one and described second, third
Transition gear axle external toothing between joint driving mechanism, the transition gear between second, third described joint driving mechanism
The big sun gear external toothing of axis and the third joint driving mechanism；
The planet carrier gear axis of the third joint driving mechanism of the surgical procedure instrument one and the third, the 4th
Transition gear axle external toothing between joint driving mechanism, the transition gear between the third, the 4th joint driving mechanism
The big sun gear external toothing of axis and the 4th joint driving mechanism；
The planet carrier gear axis of 4th joint driving mechanism of the surgical procedure instrument one and described the four, the 5th
Transition gear axle external toothing between joint driving mechanism, the transition gear between the four, the 5th joint driving mechanisms
The big sun gear external toothing of axis and the 5th joint driving mechanism；
The planet carrier gear axis of 5th joint driving mechanism of the surgical procedure instrument one and described the five, the 6th
Transition gear axle external toothing between joint driving mechanism, the transition gear between the five, the 6th joint driving mechanisms
The big sun gear external toothing of axis and the 6th joint driving mechanism；
The planet carrier gear axis of 6th joint driving mechanism of the surgical procedure instrument one and described the six, the 7th
Transition gear axle external toothing between joint driving mechanism, the mistake between the six, the 7th joint driving mechanisms
Cross the big sun gear external toothing of gear shaft Yu the 7th joint driving mechanism；
The planet carrier gear axis of 6th joint driving mechanism of the surgical procedure instrument one and described the six, the 8th
The transition gear axle external toothing between joint driving mechanism, the institute between the six, the 8th joint driving mechanisms
The big sun gear external toothing of the transition gear axle and the 8th joint driving mechanism stated.
Further, the gear shaft both ends of the first joint driving mechanism of the surgical procedure instrument one pass through bearing axis
To fixation, bearing is fixed on the base.
Further, the second, third, fourth, fifth and the 6th joint driving mechanism of the surgical procedure instrument one
Described planet carrier gear axis one end stretch out three pin shafts, three pin shafts of planet carrier gear axis are inserted into three planetary gears respectively
Centre bore in, by bearing axial restraint, the planet carrier gear axis other end passes through three planetary gears for planet carrier gear axis one end
Axial restraint, sun wheel shaft and big sun gear both ends pass through bearing axial restraint respectively, and one of bearing is fixed on sun gear
On axis and big sun gear, other two bearing is fixed on the base, and one end of planet carrier gear axis and interface clutch discs were formed
It is full of cooperation.
Further, the planet carrier one of the 7th and the 8th joint driving mechanism of the surgical procedure instrument one
Three pin shafts are stretched out at end, and three pin shafts of planet carrier are inserted into respectively in the centre bore of three planetary gears, and planet carrier one end passes through axis
Axial restraint is held, by three planetary gear axial restraints, sun wheel shaft and big sun gear both ends pass through the planet carrier other end respectively
Bearing axial restraint, one of bearing are fixed in sun wheel shaft and big sun gear, other two bearing is fixed on the base,
One end of planet carrier and interface clutch discs, which are formed, to be interference fitted.
Further, the first, second, third, fourth, the 5th and the 6th joint drive of the surgical procedure instrument one
Between mechanism and the 6th joint driving mechanism and the 7th joint driving mechanism and the 8th joint drive
The transition gear axle both ends installed between mechanism are fixed on the base by bearing axial restraint, bearing.
The driving of quick-changing mechanism and decoupling-structure mode two-control decoupling:
It drives in first, second, third, fourth, the five, the six, the 7th and the 8th joint of the surgical procedure instrument one
The structure of motivation structure is identical, respectively includes a motor, motor driven transmission shaft rotation, the transmission shaft and corresponding thereto
The interface clutch discs answered are connected；
Further, the first, second, third, fourth, the 5th, the 6th, the 7th and of the surgical procedure instrument one
The both ends of the drive shaft of eight joint driving mechanisms is fixed on the base by bearing axial restraint, bearing.
The freedom degree of the surgical procedure instrument two can be identical with the surgical procedure instrument one, is applied to
Double end generic operation instrument such as clamps class instrument, shearing class instrument；It can also remove on the basis of the surgical procedure instrument one
8th joint driving mechanism and the 8th joint executing agency are applied to single head generic operation instrument, such as cut class instrument；The hand
Art viewing instruments can remove the 8th joint driving mechanism on the basis of the surgical procedure instrument one and the 8th joint is held
Row mechanism, and seven freedom is changed on the basis of surgical procedure instrument one around the 7th joints axes z-axis to rotation freedom
Degree；Or the 5th to seven freedom is changed to around the 5th joints axes y-axis to rotation freedom degree, around the 6th joints axes x-axis to
Rotation freedom degree is applied to 30 ° of hysteroscope class viewing instruments around the 7th joints axes z-axis to rotation freedom degree；The operation is seen
The seven, the 8th joint driving mechanisms and the seven, the 8th can also be removed on the basis of the surgical procedure instrument one by examining instrument
Joint executing agency；Or the 5th, six degree of freedom are changed to around the 5th joints axes y-axis to rotation freedom degree, around the 6th joint
Axis x-axis is applied to 360 ° of hysteroscope class viewing instruments to rotation freedom degree.
Further, the pedestal of each surgical instrument includes base housing and base outer cover, the pedestal shell
Body is equipped with twice positioning convex platform, and base housing two sides are respectively equipped with two stay bolt holes, the stay bolt hole and pedestal
Outer cover is connected.
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, the surgical instrument executing agency of each surgical instrument can pacify along the guide chute above base outer cover
It is attached on quick-changing mechanism；Two stay bolt holes and pedestal of the design there are two stay bolt hole, above base outer cover on 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.
Further, the interface pedestal of each surgical instrument further includes one for surgical instrument to be executed machine
Structure is fixed to the retaining mechanism in interface pedestal；The retaining mechanism includes two groups, and every group includes that a locking is linked up with, and two
One end of locking hook is rotatably mounted on the same base outer cover, and the locking hook other end is equipped with groove, and surgical instrument executes
Corresponding position is equipped with boss, corresponding position on the groove and surgical instrument executing agency shell of locking hook above on mechanism shell
Boss cooperation be used for fixation surgical instrument executing agency.
The utility model has the beneficial effects that
The entirety of the single hole operating robot with rotation positioning joint for micro-wound surgical operation of the utility model
Layout structure has the advantages that compared with prior art
1. the single hole operating robot with rotation positioning joint for micro-wound surgical operation of the utility model is whole
Body layout structure is succinct rationally, compact layout, occupies little space, and enhances the convenience used and peace of single hole operating robot
Quan Xing.
2. the single hole operating robot with rotation positioning joint for micro-wound surgical operation of the utility model is whole
Body layout structure dismounts mode using surgical instrument executing agency and quick-changing mechanism quick change, replaces different surgical devices with can be convenient
Tool enhances the flexibility of single hole operating robot used.
3. the single hole operating robot with rotation positioning joint for micro-wound surgical operation of the utility model is whole
Body layout structure has the characteristics that miniaturization, lightweight, is conducive to the popularization and application of single hole operating robot.
4. the hand of the single hole operating robot with rotation positioning joint for micro-wound surgical operation of the utility model
The easy disassembly of art instrument is easy to adjust, and accurate positioning, rigidity is larger, rationally distributed, miniaturization, lightweight.
5. surgical instrument using mechanically decoupled, completely solves the phase generated when each joint rotation of surgical instrument executing agency
Mutually movement coupled problem.
6. 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 be made to be installed to
When on quick-changing mechanism, the interface clutch discs above surgical instrument executing agency can be proper with the interface clutch discs above base housing
It can cooperate well and be driven in place, interface clutch discs and the bottom above surgical instrument executing agency will not be caused because of interference
The interface clutch discs of seat housing upper face can not cooperate.
7. being made into horn mouth at the top of the guide chute above tool apron outer cover, surgical instrument executing agency is made to be fit into quick change
More convenient and quicker when mechanism；Guide chute curve can guarantee that cutter driving disk slides naturally and be docked without interfering；Guiding
Sliding slot end and intermediate channel bottom can be accurately positioned the opposite peace of surgical instrument executing agency and quick-changing mechanism using interference fit
Holding position.Surgical instrument executing agency is fit into and removes from quick-changing mechanism front upper place, meets habit operation direction, reduces
Install and remove difficulty.
8. surgical instrument executing agency can accurately and reliably be fixed to above quick-changing mechanism by locked by hooks mechanism；It can also
Easily to lock and unclamp surgical instrument executing agency.
9. the interface clutch discs above quick-changing mechanism use single-row arrangement, make surgical instrument executing agency in interface pedestal
The arm of force between the fixed point in face is longer, is more advantageous in the fixation for guaranteeing surgical instrument executing agency on interface pedestal.
10. interface clutch discs above quick-changing mechanism 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.
11. the design of mechanically decoupled mechanism is not designed in surgical instrument executing agency on quick-changing mechanism, it in this way can be with
The structure design for simplifying surgical instrument executing agency, is conducive to surgical instrument executing agency 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 single hole operating robot with rotation positioning joint for micro-wound surgical operation of the utility model
Integral layout structural schematic diagram.
Fig. 2 is a kind of single hole operating robot with rotation positioning joint for micro-wound surgical operation of the utility model
Integral layout structure of the main view.
Fig. 3 is a kind of single hole operating robot with rotation positioning joint for micro-wound surgical operation of the utility model
One schematic top plan view of integral layout structural arrangement method.
Fig. 4 is a kind of single hole operating robot with rotation positioning joint for micro-wound surgical operation of the utility model
Two schematic top plan view of integral layout structural arrangement method.
Fig. 5, Fig. 6, Fig. 7 are a kind of single hole hands with rotation positioning joint for micro-wound surgical operation of the utility model
The instrument and quick-changing mechanism of art robot assemble schematic front view, right side view, schematic top plan view.
Fig. 8, Fig. 9 are a kind of single hole surgical engines with rotation positioning joint for micro-wound surgical operation of the utility model
Mechanically decoupled quick-changing mechanism right side view, the schematic front view of device people.
Figure 10, Figure 11 are a kind of single hole operations with rotation positioning joint for micro-wound surgical operation of the utility model
The control of robot decouples quick-changing mechanism right side view, schematic front view.
Figure 12 is a kind of single hole surgical machine with rotation positioning joint for micro-wound surgical operation of the utility model
Two schematic front view of integral layout structure of people.
Figure 13 is a kind of single hole surgical machine with rotation positioning joint for micro-wound surgical operation of the utility model
Two arrangement of integral layout structure, one schematic top plan view of people.
Figure 14 is a kind of single hole surgical machine with rotation positioning joint for micro-wound surgical operation of the utility model
Two arrangement of integral layout structure, two schematic top plan view of people.
Figure 15 is a kind of single hole surgical machine with rotation positioning joint for micro-wound surgical operation of the utility model
Two arrangement of integral layout structure, three schematic top plan view of people.
Figure 16, Figure 17, Figure 18 are a kind of lists with rotation positioning joint for micro-wound surgical operation of the utility model
The instrument two and quick-changing mechanism of hole operating robot assemble schematic front view, right side view, schematic top plan view.
Figure 19 is a kind of single hole surgical machine with rotation positioning joint for micro-wound surgical operation of the utility model
The double end class instrument degrees of freedom combination schematic diagram of people.
Figure 20 is a kind of single hole surgical machine with rotation positioning joint for micro-wound surgical operation of the utility model
360 ° of instrument degrees of freedom combination schematic diagrames of people.
Figure 21 is a kind of single hole surgical machine with rotation positioning joint for micro-wound surgical operation of the utility model
30 ° of instrument degrees of freedom combination schematic diagrames of people.
Figure 22 is a kind of single hole surgical machine with rotation positioning joint for micro-wound surgical operation of the utility model
360 ° of two schematic diagrames of instrument degrees of freedom combination of people.
Figure 23 is a kind of single hole surgical machine with rotation positioning joint for micro-wound surgical operation of the utility model
30 ° of two schematic diagrames of instrument degrees of freedom combination of people.
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.
The explanation of label is specifically omitted in the label below:
1_Q~3_Q is represented: 1_Q, 2_Q, 3_Q；1_Q~2_Q is represented: 1_Q, 2_Q；What 1_M~3_M was represented
It is: 1_M, 2_M, 3_M；9_3~16_2 is represented: 9_3,10_3,11_3,12_3,13_3,14_3,15_2,16_2；2_4
~8_10 is represented: 2_4,3_10,4_10,5_10,6_10,7_10,8_10；3_3~6_3 is represented: 3_3,4_3,5_
3,6_3；3_3~8_3 is represented: 3_3,4_3,5_3,6_3,7_3,8_3；3_4~8_4 represent: 3_4,4_4,5_4,
6_4,7_4,8_4；3_10~6_10 is represented: 3_10,4_10,5_10,6_10；2_6~2_8 is represented: 2_6,2_7,
2_8；3_6~3_8 is represented: 3_6,3_7,3_8；4_6~4_8 is represented: 4_6,4_7,4_8；What 5_6~5_8 was represented
It is: 5_6,5_7,5_8；6_6~6_8 is represented: 6_6,6_7,6_8；7_6~7_8 is represented: 7_6,7_7,7_8；8_6
~8_8 is represented: 8_6,8_7,8_8；1_2_1~5_6_1 is represented: 1_2_1,2_3_1,3_4_1,4_5_1,5_6_
1；1_2_1~6_8_1 is represented: 1_2_1,2_3_1,3_4_1,4_5_1,5_6_1,6_7_1,6_8_1；1_2_2~6_8_
3 represent: 1_2_2,2_3_2,2_3_3,3_4_2,3_4_3,4_5_2,4_5_3,5_6_2,5_6_3,6_7_2,6_7_3,
6_8_2,6_8_3；1_1~8_1 is represented: 1_1,2_1,3_1,4_1,5_1,6_1,7_1,8_1；What 1_2~8_2 was represented
It is: 1_2,2_2,3_2,4_2,5_2,6_2,7_2,8_2；1_3_k~8_3_k is represented: 1_3_k, 2_3_k, 3_3_k, 4_
3_k,5_3_k, 6_3_k,7_3_k,8_3_k；1_4_k~8_4_k is represented: 1_4_k, 2_4_k, 3_4_k, 4_4_k, 5_
4_k,6_4_k, 7_4_k,8_4_k；1_5_k~8_5_k is represented: 1_5_k, 2_5_k, 3_5_k, 4_5_k, 5_5_k, 6_
5_k,7_5_k, 8_5_k；1_6_k~8_6_k is represented: 1_6_k, 2_6_k, 3_6_k, 4_6_k, 5_6_k, 6_6_k, 7_
6_k、8_6_k。
Embodiment one
Illustrate present embodiment in conjunction with Fig. 1~Figure 11, Figure 19~Figure 23, it is described that there is rotation for micro-wound surgical operation
The integral layout structure of the single hole operating robot of positioning joint, including three surgical instrument 1_Q~3_Q, two of them are hand
Art operates instrument 1_Q~2_Q, another is operation viewing instruments 3_Q；Three surgical instrument 1_Q~3_Q parallel arrangements, operation
Surgical instrument executing agency 1_M~3_M of instrument, which both passes through sheath card K and enters inside of human body, to be operated and observes, sheath card K
It is fixed at the single holes surgical aperture such as human body navel.
One 1_Q of surgical procedure instrument includes quick-changing mechanism 1_N and surgical instrument executing agency 1_M two parts；Hand
The quick-changing mechanism 1_N that art operates one 1_Q of instrument includes a fixing seat 1_1, and first installed on the fixing seat 1_1
Joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint
The composition such as driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8.
The first joint driving mechanism 1 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument, described second are closed
Save driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the drive of the 6th joint
Motivation structure 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8 are mounted on the same pedestal 1_3, and described first
Joint driving mechanism 1, 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 are connected with the surgical instrument executing agency 1_M；
The first joint driving mechanism 1 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument, 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 respectively corresponded by wirerope drives one 1_Q of surgical procedure instrument
Surgical instrument executing agency 1_M the first joint executing agency 9, second joint executing agency 10, third joint executing agency
11, the 4th joint executing agency 12, the 5th joint executing agency 13, the 6th joint executing agency 14, the 7th joint executing agency
15 and the 8th joint executing agency 16 rotation；
The surgical instrument executing agency 1_M of one 1_Q of surgical procedure instrument includes 8 freedom degrees, the operation
8 freedom degrees that the surgical instrument executing agency 1_M of operation one 1_Q of instrument includes are since the one end final drive box 1_4, successively
Are as follows: around the first joint 9_1 axis x-axis to rotation freedom degree, around second joint 10_1 axis x-axis to rotation freedom degree, around third
Joint 11_1 axis z-axis is to rotation freedom degree, around the 4th joint 12_1 axis y-axis to rotation freedom degree, around the 5th joint 13_1
Axis z-axis is to rotation freedom degree, around the 6th joint 14_1 axis x-axis to rotation freedom degree, around the 7th joint 15_1 axis y axis
To rotation freedom degree I, around the 7th joint 15_1 axis y-axis to rotation freedom degree II.The first, second, third, fourth, the 5th,
Six, 15 each adjacent two joint freedom degrees axis direction spatial vertical of the 7th joint executing agency, the 7th and the 8th joint execute
16 two joint freedom degrees axis of mechanism are overlapped.
The first joint executing agency 9 of one 1_Q of surgical procedure instrument, second joint executing agency 10, third are closed
Save executing agency 11, the 4th joint executing agency 12, the 5th joint executing agency 13, the 6th joint executing agency the 14, the 7th pass
It is identical with the structure in the final drive box 1_4 of the 8th joint executing agency 16 to save executing agency 15, respectively includes one
It is driven the composition such as wire wheel axis, line wheel, interface clutch discs, bearing；Interface clutch discs one end connecting joint driving mechanism 1_
N, the other end are connected with transmission wire wheel axis, are equipped with line wheel on the transmission wire wheel axis；Pass through the rotation of interface clutch discs
Transmission wire wheel axis and line wheel rotation are driven, wire wheel axis and line wheel is driven and is respectively corresponded by wirerope and drive the first joint 9_1, the
Two joint 10_1, third joint 11_1, the 4th joint 12_1, the 5th joint 13_1, the 6th joint 14_1, the 7th joint 15_1
It is rotated with the 8th joint 16_1；
Described one one end 9_2 of arm section and the final drive box 1_4 are connected, and there are two just by one 9_2 of arm section
Property bent joint 1_12,1_13, each rigidity bent joint 1_12,1_13 are equipped with one group of directive wheel one and four group tensioning wheel
One, it is oriented to and is tensioned for wirerope；
Control the first joint 9_1, second joint are installed above the final drive box connecting sleeve connector 9_3
10_1, third joint 11_1, the 4th joint 12_1, the 5th joint 13_1, the 6th joint 14_1, the 7th joint 15_1, the 8th are closed
The guide wheel shaft and two tension wheel shafts of 16_1 relative motion are saved, is led wherein installing one group above the guide wheel shaft
To two and one 10_3 of arm section a connection piece of wheel, one group of tensioning wheel two is installed respectively above two tension wheel shafts, it is described
Control second joint 10_1, third joint 11_1, the 4th joint 12_1, the 5th pass are installed above one 10_3 of arm section a connection piece
Save 13_1, the 6th joint 14_1, the 7th joint 15_1, the 8th joint 16_1 relative motion two tension wheel shafts, wherein described
Two tension wheel shafts above one group of tensioning wheel three is installed respectively, have rope groove above one 10_3 of arm section a connection piece, use
In the opposite rotation of two 10_2 of control arm section and one 9_2 of arm section；
Two axis of directive wheel and the first joint at first joint 9_1 above final drive box connecting sleeve connector 9_3
9_1 is overlapped with respect to rotation axis, two axis of directive wheel at the first joint 9_1 above final drive box connecting sleeve connector 9_3
Line and two two axis of tensioning wheel and two three axis of tensioning wheel above one 10_3 of arm section a connection piece are parallel, the first joint
One 10_3 of adjacent end gear box connecting sleeve connector 9_3 and arm section a connection piece of the same joint rotation is controlled at 9_1
Directive wheel two and tensioning wheel two, three median planes of upper installation are in the same plane, and the directive wheel one, two can be relative to
The guide wheel shaft is freely rotated, and the tensioning wheel one, two, three can be freely rotated relative to the tension wheel shaft.
The second joint executing agency 10, third joint executing agency 11, the 4th joint executing agency the 12, the 5th close
Save executing agency 13, the 6th joint executing agency 14, the 7th joint executing agency 15, the 8th joint executing agency 16 and the first pass
It is essentially identical to save 9 structure of executing agency.The wherein directive wheel axis and third joint 11_ of the third joint executing agency 11
1 rotation axis is overlapped, and there are two tensioning wheels for the same side installation of three connector of arm section, the one 11_3 rope grooves on
Four, two tensioning wheel four axistyles vertical and described with the rope groove axis on three connector of arm section, one 11_3 two
Rope groove tangent line on one 11_3 of bearing up pulley four and three connector of arm section is overlapped, the phase for three 11_2 of control arm section and two 10_2 of arm section
To rotation；The 4th joint 12_1, the 5th joint 13_ are installed in three connecting sleeve 11_2 of arm section at the third joint 11_1
1, the 6th joint 14_1, the 7th joint 15_1, the 8th joint 16_1 directive wheel and tensioning wheel control described two in same joint
A tensioning wheel is arranged in directive wheel two sides, and controls the described two tensioning wheel axis and guiding of the same joint rotation
Wheel axis is vertical, and controls two tensioning wheels and the coincidence of directive wheel tangent line of the same joint rotation.
The directive wheel axis of the 5th joint executing agency 13 is overlapped with the rotation axis of the 5th joint 13_1, described
Five connector of arm section, one 13_3 rope grooves on the same side installation there are two tensioning wheel five, two five axis of tensioning wheel
Line two tensioning wheels five and arm section five connector one vertical and described with the rope groove axis on five connector of arm section, one 13_3
Rope groove tangent line on 13_3 is overlapped, the opposite rotation for five 13_2 of control arm section and four 12_2 of arm section；5th joint
The 6th joint 14_1, the 7th joint 15_1, the 8th joint 16_1 directive wheel are installed in five connecting sleeve 13_2 of arm section at 13_1
And tensioning wheel, described two tensioning wheel for controlling same joint is arranged in directive wheel two sides, and controls the same joint
The described two tensioning wheel axis of rotation is vertical with directive wheel axis, and control same joint rotation two tensioning wheels and
Directive wheel tangent line is overlapped.
Further, machine is executed in the first joint executing agency 9, second joint executing agency 10, third joint
Structure 11, the 4th joint executing agency 12, the 5th joint executing agency 13, the 6th joint executing agency 14, the 7th joint execute machine
Line wheel two sides in structure 15 and the final drive box 1_4 of the 8th joint executing agency 16 are mounted on guide frame；
Further, the first joint executing agency 9, second joint executing agency 10, third joint executing agency
11, the 4th joint executing agency 12, the 5th joint executing agency 13, the 6th joint executing agency 14, the 7th joint executing agency
15 and the 8th line wheel and transmission wire wheel axis in joint executing agency 16 on have steel wire rope groove, be used for winding wire ropes；Described
Two joint executing agencies 10, third joint executing agency 11, the 4th joint executing agency 12, the 5th joint executing agency 13,
In six joint executing agencies 14, the 7th joint executing agency 15 and line wheel in the 8th joint executing agency 16 and transmission wire wheel axis
Rope groove on grooved hole, steel cord ends knot after be embedded in slot, for fixing steel cord ends.
Further, the first joint executing agency 9, second joint executing agency 10, third joint executing agency
11, the 4th joint executing agency 12, the 5th joint executing agency 13, the 6th joint executing agency 14, the 7th joint executing agency
15 and the 8th joint executing agency 16 corresponding joint arm section connector 9_3~16_2 rope groove grooved hole, steel cord ends knot
After be embedded in slot, for fixing steel cord ends.
Further, it to prevent wirerope from deviating from from directive wheel and tensioning wheel, can be installed in the position close to tensioning wheel
Guide hole plate, make wirerope moved into along directive wheel and tensioning wheel tangent line lay out directive wheel and tensioning wheel after from the guiding of guide hole plate
Adjacent segment is pierced by hole.
Further, the first joint executing agency 9, second joint executing agency 10, third joint executing agency
11, the 4th joint executing agency 12, the 5th joint executing agency 13, the 6th joint executing agency 14, the 7th joint executing agency
15 and the 8th the line wheel of joint executing agency 16 be set on the transmission wire wheel axis, the line wheel with it is described
Transmission wire wheel axis on have arc-shaped stay bolt hole, between the line wheel and the transmission wire wheel axis adjust relative rotation make
Steel wire is connected with and fastens after reaching suitable rate of tension in drive path.
The driving of quick-changing mechanism and decoupling-structure mode one-are mechanically decoupled:
As the first joint driving mechanism 1 of Fig. 8, Fig. 9, the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument include
One motor 1_1, motor 1_1 are connected by shaft joint 1_2 with gear shaft 1_3, the gear shaft 1_3 and corresponding thereto
Interface clutch discs 1_4 be connected；
The second joint driving mechanism 2 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument includes a motor 2_
1, motor 2_1 are connected by shaft joint 2_2 with sun wheel shaft 2_3, are equipped with big sun gear on the sun wheel shaft 2_3
2_5 and small sun gear 2_4, big sun gear 2_5 and small sun gear 2_4 and three planets being mounted on planet carrier gear axis 2_9
Take turns 2_6~2_8 engagement, three planetary gear 2_6~2_8 and small sun gear 2_4 external toothing, three planetary gear 2_6~2_8 and big too
Sun wheel 2_5 internal messing, three planetary gear 2_6~2_8 are uniformly distributed around sun wheel shaft 2_3 axis, the planet carrier gear axis 2_
9 are connected with interface clutch discs 2_10 corresponding thereto；
The third joint driving mechanism 3 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument includes a motor 3_
1, motor 3_1 are connected by shaft joint 3_2 with sun wheel shaft 3_3, are equipped with big sun gear on the sun wheel shaft 3_3
3_5 and small sun gear 3_4, big sun gear 3_5 and small sun gear 3_4 and three planets being mounted on planet carrier gear axis 3_9
Take turns 3_6~3_8 engagement, three planetary gear 3_6~3_8 and small sun gear 3_4 external toothing, three planetary gear 3_6~3_8 and big too
Sun wheel 3_5 internal messing, three planetary gear 3_6~3_8 are uniformly distributed around sun wheel shaft 3_3 axis, the planet carrier gear axis 3_
9 are connected with interface clutch discs 3_10 corresponding thereto；
The 4th joint driving mechanism 4 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument includes a motor 4_
1, motor 4_1 are connected by shaft joint 4_2 with sun wheel shaft 4_3, are equipped with big sun gear on the sun wheel shaft 4_3
4_5 and small sun gear 4_4, big sun gear 4_5 and small sun gear 4_4 and three planets being mounted on planet carrier gear axis 4_9
Take turns 4_6~4_8 engagement, three planetary gear 4_6~4_8 and small sun gear 4_4 external toothing, three planetary gear 4_6~4_8 and big too
Sun wheel 4_5 internal messing, three planetary gear 4_6~4_8 are uniformly distributed around sun wheel shaft 4_3 axis, the planet carrier gear axis 4_
9 are connected with interface clutch discs 4_10 corresponding thereto；
The 5th joint driving mechanism 5 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument includes a motor 5_
1, motor 5_1 are connected by shaft joint 5_2 with sun wheel shaft 5_3, are equipped with big sun gear on the sun wheel shaft 5_3
5_5 and small sun gear 5_4, big sun gear 5_5 and small sun gear 5_4 and three planets being mounted on planet carrier gear axis 5_9
Take turns 5_6~5_8 engagement, three planetary gear 5_6~5_8 and small sun gear 5_4 external toothing, three planetary gear 5_6~5_8 and big too
Sun wheel 5_5 internal messing, three planetary gear 5_6~5_8 are uniformly distributed around sun wheel shaft 5_3 axis, the planet carrier gear axis 5_
9 are connected with interface clutch discs 5_10 corresponding thereto；
The 6th joint driving mechanism 6 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument includes a motor 6_
1, motor 6_1 are connected by shaft joint 6_2 with sun wheel shaft 6_3, are equipped with big sun gear on the sun wheel shaft 6_3
6_5 and small sun gear 6_4, big sun gear 6_5 and small sun gear 6_4 and three planets being mounted on planet carrier gear axis 6_9
Take turns 6_6~6_8 engagement, three planetary gear 6_6~6_8 and small sun gear 6_4 external toothing, three planetary gear 6_6~6_8 and big too
Sun wheel 6_5 internal messing, three planetary gear 6_6~6_8 are uniformly distributed around sun wheel shaft 6_3 axis, the planet carrier gear axis 6_
9 are connected with interface clutch discs 6_10 corresponding thereto；
The 7th joint driving mechanism 7 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument includes a motor 7_
1, which is connected by shaft joint 7_2 with sun wheel shaft 7_3, and big sun gear 7_5 is equipped on the sun wheel shaft 7_3
With small sun gear 7_4, big sun gear 7_5 and small sun gear 7_4 and three planetary gear 7_6~7_8 being mounted on planet carrier 7_8
It engages, three planetary gear 7_6~7_8 and small sun gear 7_4 external toothing, in three planetary gear 7_6~7_8 and big sun gear 7_5
Engagement, three planetary gear 7_6~7_8 are evenly distributed with around sun wheel shaft 7_3 axis, the planet carrier 7_9 and corresponding thereto
Interface clutch discs 7_10 is connected；
The 8th joint driving mechanism 8 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument includes a motor 8_
1, which is connected by shaft joint 8_2 with sun wheel shaft 8_3, and big sun gear 8_5 is equipped on the sun wheel shaft 8_3
With small sun gear 8_4, big sun gear 8_5 and small sun gear 8_4 and three planetary gear 8_6~8_8 being mounted on planet carrier 8_8
It engages, three planetary gear 8_6~8_8 and small sun gear 8_4 external toothing, in three planetary gear 8_6~8_8 and big sun gear 8_5
Engagement, three planetary gear 8_6~8_8 are evenly distributed with around sun wheel shaft 8_3 axis, the planet carrier 8_9 and corresponding thereto
Interface clutch discs 8_10 is connected；
The first joint driving mechanism 1 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument, second joint driving
Mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5 and the 6th joint driving mechanism
A transition gear axle 1_2_1~5_6_1 is mounted between 6；
The 6th joint driving mechanism 6 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument is closed with the described the 7th
A transition gear axle 6_7_1 and transition tooth are separately installed between section driving mechanism 7 and the 8th joint driving mechanism 8
Wheel shaft 6_8_1；
The 7th joint driving mechanism 7 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument and the described the 8th closes
Transition gear axle is fitted without between section driving mechanism 8；
The gear shaft of the first joint driving mechanism 1 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
The transition gear axle between 1_3 and first joint driving mechanism 1 and the second joint driving mechanism 2
1_2_1 external toothing, the transition between first joint driving mechanism 1 and the second joint driving mechanism 2
The big sun gear 2_5 external toothing of gear shaft 1_2_1 and the second joint driving mechanism 2；
The gear shaft of the second joint driving mechanism 2 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
The transition gear axle between 2_3 and the second joint driving mechanism 2 and the third joint driving mechanism 3
2_3_1 external toothing, the transition between the second joint driving mechanism 2 and the third joint driving mechanism 3
The big sun gear 3_5 external toothing of gear shaft 2_3_1 and the third joint driving mechanism 3；
The planet carrier of the third joint driving mechanism 3 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
The transition tooth between gear shaft 3_9 and the third joint driving mechanism 3 and the 4th joint driving mechanism 4
Wheel shaft 3_4_1 external toothing, it is described between the third joint driving mechanism 3 and the 4th joint driving mechanism 4
The big sun gear 4_5 external toothing of transition gear axle 3_4_1 and the 4th joint driving mechanism 4；
The planet carrier of the 4th joint driving mechanism 4 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
The transition tooth between gear shaft 4_9 and the 4th joint driving mechanism 4 and the 5th joint driving mechanism 5
Wheel shaft 4_5_1 external toothing, it is described between the 4th joint driving mechanism 4 and the 5th joint driving mechanism 5
The big sun gear 5_5 external toothing of transition gear axle 4_5_1 and the 5th joint driving mechanism 5；
The planet carrier of the 5th joint driving mechanism 5 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
The transition tooth between gear shaft 5_9 and the 5th joint driving mechanism 5 and the 6th joint driving mechanism 6
Wheel shaft 5_6_1 external toothing, it is described between the 5th joint driving mechanism 5 and the 6th joint driving mechanism 6
The big sun gear 6_5 external toothing of transition gear axle 5_6_1 and the 6th joint driving mechanism 6；
The planet carrier of the 6th joint driving mechanism 6 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
The transition tooth between gear shaft 6_9 and the 6th joint driving mechanism 6 and the 7th joint driving mechanism 7
Wheel shaft 6_7_1 external toothing, it is described between the 6th joint driving mechanism 6 and the 7th joint driving mechanism 7
The big sun gear 7_5 external toothing of transition gear axle 6_7_1 and the 7th joint driving mechanism 7；
The planet carrier of the 6th joint driving mechanism 6 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
The transition tooth between gear shaft 6_9 and the 6th joint driving mechanism 6 and the 8th joint driving mechanism 8
Wheel shaft 6_8_1 external toothing, it is described between the 6th joint driving mechanism 6 and the 8th joint driving mechanism 8
The big sun gear 8_5 external toothing of transition gear axle 6_8_1 and the 8th joint driving mechanism 8；
Further, the tooth of the first joint driving mechanism 1 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
By bearing 1_5 and bearing 1_6 axial restraint, bearing 1_5 and bearing 1_6 are fixed on pedestal 1_3 at the both ends wheel shaft 1_3.
Further, the institute of the second joint driving mechanism 2 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
Three pin shafts are stretched out in the planet carrier gear one end axis 2_9 stated, and three pin shafts of planet carrier gear axis 2_9 are inserted into three planets respectively
In the centre bore for taking turns 2_6~2_8, planet carrier gear one end axis 2_9 passes through bearing 2_11 axial restraint, planet carrier gear axis 2_9
For the other end by three planetary gear 2_6~2_8 axial restraints, sun wheel shaft 2_3 and the both ends big sun gear 2_5 pass through bearing respectively
2_12 and bearing 2_13 axial restraint, bearing 2_12 are fixed on sun wheel shaft 2_3 and big sun gear 2_5, bearing 2_11 and axis
It holds 2_13 to be fixed on pedestal 1_3, one end of planet carrier gear axis 2_9 and interface clutch discs 2_10 are formed and be interference fitted.
Further, the institute of the third joint driving mechanism 3 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
Three pin shafts are stretched out in the planet carrier gear one end axis 3_9 stated, and three pin shafts of planet carrier gear axis 3_9 are inserted into three planets respectively
In the centre bore for taking turns 3_6~3_8, planet carrier gear one end axis 3_9 passes through bearing 3_11 axial restraint, planet carrier gear axis 3_9
For the other end by three planetary gear 3_6~3_8 axial restraints, sun wheel shaft 3_3 and the both ends big sun gear 3_5 pass through bearing respectively
3_12 and bearing 3_13 axial restraint, bearing 3_12 are fixed on sun wheel shaft 3_3 and big sun gear 3_5, bearing 3_11 and axis
It holds 3_13 to be fixed on pedestal 1_3, one end of planet carrier gear axis 3_9 and interface clutch discs 3_10 are formed and be interference fitted.
Further, the institute of the 4th joint driving mechanism 4 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
Three pin shafts are stretched out in the planet carrier gear one end axis 4_9 stated, and three pin shafts of planet carrier gear axis 4_9 are inserted into three planets respectively
In the centre bore for taking turns 4_6~4_8, planet carrier gear one end axis 4_9 passes through bearing 4_11 axial restraint, planet carrier gear axis 4_9
For the other end by three planetary gear 4_6~4_8 axial restraints, sun wheel shaft 4_3 and the both ends big sun gear 4_5 pass through bearing respectively
4_12 and bearing 4_13 axial restraint, bearing 4_12 are fixed on sun wheel shaft 4_3 and big sun gear 4_5, bearing 4_11 and axis
It holds 4_13 to be fixed on pedestal 1_3, one end of planet carrier gear axis 4_9 and interface clutch discs 4_10 are formed and be interference fitted.
Further, the institute of the 5th joint driving mechanism 5 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
Three pin shafts are stretched out in the planet carrier gear one end axis 5_9 stated, and three pin shafts of planet carrier gear axis 5_9 are inserted into three planets respectively
In the centre bore for taking turns 5_6~5_8, planet carrier gear one end axis 5_9 passes through bearing 5_11 axial restraint, planet carrier gear axis 5_9
For the other end by three planetary gear 5_6~5_8 axial restraints, sun wheel shaft 5_3 and the both ends big sun gear 5_5 pass through bearing respectively
5_12 and bearing 5_13 axial restraint, bearing 5_12 are fixed on sun wheel shaft 5_3 and big sun gear 5_5, bearing 5_11 and axis
It holds 5_13 to be fixed on pedestal 1_3, one end of planet carrier gear axis 5_9 and interface clutch discs 5_10 are formed and be interference fitted.
Further, the institute of the 6th joint driving mechanism 6 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
Three pin shafts are stretched out in the planet carrier gear one end axis 6_9 stated, and three pin shafts of planet carrier gear axis 6_9 are inserted into three planets respectively
In the centre bore for taking turns 6_6~6_8, planet carrier gear one end axis 6_9 passes through bearing 6_11 axial restraint, planet carrier gear axis 6_9
For the other end by three planetary gear 6_6~6_8 axial restraints, sun wheel shaft 6_3 and the both ends big sun gear 6_5 pass through bearing respectively
6_12 and bearing 6_13 axial restraint, bearing 6_12 are fixed on sun wheel shaft 6_3 and big sun gear 6_5, bearing 6_11 and axis
It holds 6_13 to be fixed on pedestal 1_3, one end of planet carrier gear axis 6_9 and interface clutch discs 6_10 are formed and be interference fitted.
Further, the institute of the 7th joint driving mechanism 7 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
Three pin shafts are stretched out in the one end planet carrier 7_9 stated, and three pin shafts of planet carrier 7_9 are inserted into three planetary gear 7_6~7_8's respectively
In centre bore, the one end planet carrier 7_9 by bearing 7_11 axial restraint, the planet carrier 7_9 other end by three planetary gear 7_6~
7_8 axial restraint, sun wheel shaft 7_3 and the both ends big sun gear 7_5 pass through bearing 7_12 and bearing 7_13 axial restraint respectively,
Bearing 7_12 is fixed on sun wheel shaft 7_3 and big sun gear 7_5, and bearing 7_11 and bearing 7_13 are fixed on pedestal 1_3, row
One end of carrier gear shaft 7_9 and interface clutch discs 7_10, which are formed, to be interference fitted.
Further, the institute of the 8th joint driving mechanism 8 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
Three pin shafts are stretched out in the one end planet carrier 8_9 stated, and three pin shafts of planet carrier 8_9 are inserted into three planetary gear 8_6~8_8's respectively
In centre bore, the one end planet carrier 8_9 by bearing 8_11 axial restraint, the planet carrier 8_9 other end by three planetary gear 8_6~
8_8 axial restraint, sun wheel shaft 8_3 and the both ends big sun gear 8_5 pass through bearing 8_12 and bearing 8_13 axial restraint respectively,
Bearing 8_12 is fixed on sun wheel shaft 8_3 and big sun gear 8_5, and bearing 8_11 and bearing 8_13 are fixed on pedestal 1_3, row
One end of carrier gear shaft 8_9 and interface clutch discs 8_10, which are formed, to be interference fitted.
Further, the first joint driving mechanism 1, second of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
Joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5 and the 6th joint
Between driving mechanism 6 and the 6th joint driving mechanism 6 is closed with the 7th joint driving mechanism 7 and the described the 8th
It is axially solid that the both ends transition gear axle 1_2_1~6_8_1 installed between section driving mechanism 8 pass through bearing 1_2_2~6_8_3 respectively
Fixed, bearing 1_2_2~6_8_3 is fixed on pedestal 1_3.
The driving of quick-changing mechanism and decoupling-structure mode two-control decoupling:
Such as Figure 10, Figure 11, the first joint driving mechanism 1 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument,
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 are identical with the structure of the 8th joint driving mechanism 8, respectively include a motor
1_1~8_1, motor 1_1~8_1 are connected by shaft joint 1_2~8_2 with transmission shaft 1_3_k~8_3_k, the transmission
Axis 1_3_k~8_3_k is connected with interface clutch discs 1_4_k~8_4_k corresponding thereto；
Further, the first joint driving mechanism 1, second of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
Joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint
The both ends transmission shaft 1_3_k~8_3_k of driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8
By bearing 1_5_k~8_5_k and bearing 1_6_k~8_6_k axial restraint, bearing 1_5_k~8_5_k and bearing 1_6_k~
8_6_k is fixed on pedestal 1_3.
Further, the interface pedestal 1_3 of one 1_Q of surgical procedure instrument includes base housing 1_3_1 and pedestal
Outer cover 1_3_2, the base housing 1_3_1 are equipped with twice positioning convex platform, and the two sides base housing 1_3_1 are respectively equipped with
Two stay bolt holes, the stay bolt hole are 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 1_M form " interference " cooperation, to prevent from performing the operation
The fixed pin shaft 1_3_4 of instrument executing agency 1_M is from the guide chute end and intermediate channel bottom above base outer cover 1_3_2
" skidding off " causes surgical instrument executing agency 1_M " to separate " with quick-changing mechanism 1_N；
Further, the surgical instrument executing agency 1_M of one 1_Q of surgical procedure instrument can be along base outer cover 1_3_2
The guide chute in face is installed on quick-changing mechanism 1_N；There are two stay bolt hole, base outer cover 1_ for design on base outer cover 1_3_2
Two stay bolt holes above 3_2 are vertical with the long axially bored line in stay bolt hole above base housing 1_3_1, facilitate base outer cover
It is opposite with the installation of base housing 1_3_1 that base outer cover 1_3_2 is adjusted when 1_3_2 is mounted and fixed on base housing 1_3_1
Position.
Further, the quick-changing mechanism 1_N interface pedestal 1_3 for minimally invasive surgery single hole operating robot, also
Retaining mechanism 1_3_3 including one for being fixed to surgical instrument executing agency 1_M on interface pedestal 1_3；The lock
Tight mechanism 1_3_3 includes two groups, and every group includes a locking hook, respectively locking hook 1_3_3_1 and locking hook 1_3_
One end of 3_2, 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, are locked
Tight hook 1_3_3_1 and the locking hook 1_3_3_2 other end are equipped with groove, correspond to position on surgical instrument executing agency 1_M shell
Boss has been installed, has corresponded to position on the groove and surgical instrument executing agency 1_M shell above locking hook 1_3_3_1,1_3_3_2
The boss cooperation set is for fixation surgical instrument executing agency 1_M.
The freedom degree of two 2_Q of surgical procedure instrument can be identical with one 1_Q of surgical procedure instrument,
Applied to double end generic operation instrument, class instrument, shearing class instrument are such as clamped；It can also be in one 1_Q of surgical procedure instrument
On the basis of remove the 8th joint driving mechanism 8 and the 8th joint executing agency 16, be applied to single head generic operation instrument, such as cut class
Instrument；The operation viewing instruments can remove the 8th joint drive on the basis of surgical procedure one 1_Q of instrument
Mechanism 8 and the 8th joint executing agency 16, and seven freedom is changed on the basis of surgical procedure one 1_Q of instrument around the 7th
Joint 15_1 axis z-axis is to rotation freedom degree, such as Figure 21；Or the 5th to seven freedom is changed to around the 5th joint 13_1 axis
Line y-axis is to rotation freedom degree, around the 6th joint 14_1 axis x-axis to rotation freedom degree, around the 7th joint 15_1 axis z-axis to certainly
Turn freedom degree, such as Figure 23, is applied to 30 ° of hysteroscope class viewing instruments；The operation viewing instruments 3_Q can also be in the hand
Remove the 7th joint driving mechanism 7, the 8th joint driving mechanism 8 and the 7th joint on the basis of art operation one 1_Q of instrument and executes machine
Structure 15, the 8th joint executing agency 16, such as Figure 20；Or the 5th, six degree of freedom are changed to around the 5th joint 13_1 axis y-axis
It is applied to 360 ° of hysteroscope class viewers around the 6th joint 14_1 axis x-axis to rotation freedom degree, such as Figure 22 to rotation freedom degree
Tool.
Working principle of the utility model is:
It is opposite between the base outer cover 1_3_2 and base housing 1_3_1 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument
The adjustment of installation site:
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 the surgical instrument executing agency M and joint driving mechanism N of one 1_Q of surgical procedure instrument:
When surgical instrument executing agency 1_M is installed in joint driving mechanism 1_N, surgical instrument executing agency 1_M along
The guide chute top of " horn mouth " shape above base outer cover 1_3_2 slides into guide chute end above base outer cover 1_3_2
End and intermediate channel bottom, guide chute end and intermediate channel bottom and surgical instrument executing agency 1_M above base outer cover 1_3_2
Fixed pin shaft forms " interference " cooperation, while 1_3_3_ is linked up in two lockings rotated above two base outer cover 1_3_2 respectively
1,1_3_3_2 keeps the groove above locking hook 1_3_3_1,1_3_3_2 corresponding on surgical instrument executing agency 1_M shell
The boss of position cooperates, to prevent the fixed pin shaft 1_3_4 of surgical instrument executing agency 1_M above base outer cover 1_3_2
It " is skidded off " in guide chute, surgical instrument executing agency 1_M is caused " to separate " with joint driving mechanism 1_N.Meanwhile base housing
Twice positioning convex platform on 1_3_1 can be positioned and be fixed to surgical instrument executing agency 1_M；
It is rotated outside two pedestals when surgical instrument executing agency 1_M is separated from joint driving mechanism 1_N, while respectively
It covers two lockings above 1_3_2 and links up with 1_3_3_1,1_3_3_2, make the groove above locking hook 1_3_3_1,1_3_3_2
It is separated with the boss of corresponding position on surgical instrument executing agency 1_M shell, surgical instrument executing agency 1_M is along base outer cover
Guide chute end and intermediate channel bottom above 1_3_2 skid off base outer cover 1_3_ from the guide chute top of " horn mouth " shape
2, separate surgical instrument executing agency 1_M " " with joint driving mechanism 1_N.
Embodiment two
Illustrate present embodiment in conjunction with Figure 12~Figure 18, on the basis of the technical solution of embodiment one, can will be used for micro-
The integral layout structure for creating the single hole operating robot with rotation positioning joint of surgical operation is changed in 12~Figure 18 of attached drawing
Structure.The single hole with rotation positioning joint for being used for micro-wound surgical operation in the technical solution of embodiment one is performed the operation
The integral layout structural adjustment of robot is the technical solution of the integral layout structure two of embodiment two, i.e., will be in embodiment one
Rigid joint 1_12,1_13 of surgical instrument are changed to antecurvature formula by side bent type.
The integral layout structure of the above-mentioned single hole operating robot with rotation positioning joint for micro-wound surgical operation
The 4th surgical instrument can also be increased, play Auxiliary support surgical procedure space and drainage.
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 integral layout structure of the single hole operating robot with rotation positioning joint, which is characterized in that including three
Surgical instrument, two of them are surgical procedure instrument one and surgical procedure instrument two, another is operation viewing instruments；Three hands
The axis of art instrument is arranged in parallel；
The surgical instrument one separately includes quick-changing mechanism and surgical instrument executing agency two parts；Surgical procedure instrument one
Quick-changing mechanism separately includes a fixing seat, and first, second, third, fourth, the 5th, is equipped in the fixing seat
Six, the 7th and the 8th joint driving mechanism；
Described first, second, third, fourth of the quick-changing mechanism of the surgical procedure instrument one, the five, the six, the 7th
It is mounted on the same pedestal with the 8th joint driving mechanism, described first, second, third, fourth, the five, the six, the 7th
Instrument is executed with the operation each by an interface clutch discs with the 8th joint driving mechanism to be connected；
First, second, third, fourth, the five, the six, the 7th and the 8th of the quick-changing mechanism of the surgical procedure instrument one
Joint driving mechanism respectively corresponds first, the of the surgical instrument executing agency of driving surgical procedure instrument one by driving member
Two, the rotation of the joint executing agency of third, the four, the five, the six, the 7th and the 8th.
2. a kind of integral layout structure of the single hole operating robot with rotation positioning joint as described in claim 1,
Be characterized in that, the surgical instrument executing agency of the surgical procedure instrument one includes first, second, third, fourth, the 5th,
Six, the seven, the 8th joint executing agencies；Eight joint executing agencies include 8 freedom degrees, and 8 freedom degrees are from end
End gear box one end starts, successively are as follows: around the first joints axes x-axis to rotation freedom degree, around second joint axis x-axis to rotation
Freedom degree, around third joints axes z-axis to rotation freedom degree, around the 4th joints axes y-axis to rotation freedom degree, around the 5th joint
Axis z-axis is free to rotation around the 7th joints axes y-axis around the 6th joints axes x-axis to rotation freedom degree to rotation freedom degree
I is spent, around the 7th joints axes y-axis to rotation freedom degree II, first, second, third, fourth, the five, the six, the 7th joints are held
Row mechanism each adjacent two joint freedom degrees axis direction spatial vertical, the 7th and the 8th two joint freedom of joint executing agency
Axis is spent to be overlapped；
Further, first, second, third, fourth, the of the surgical instrument executing agency of the surgical procedure instrument one
Five, the six, the 7th is identical with the structure in the final drive box of the 8th executing agency, respectively include a transmission wire wheel axis,
Line wheel, interface clutch discs；Interface clutch discs one end connecting joint driving mechanism, the other end are connected with transmission wire wheel axis,
Line wheel is installed on the transmission wire wheel axis；The rotation of transmission wire wheel axis and line wheel is driven by the rotation of interface clutch discs
Turn, be driven wire wheel axis and line wheel respectively corresponded by wirerope drive the first joint, second joint, third joint, the 4th joint,
5th joint, the 6th joint, the 7th joint and the rotation of the 8th joint；
Further, one connecting sleeve one end of arm section and the final drive box are connected, and one connecting sleeve of arm section has
Two rigid bent joints, each rigidity bent joint are equipped with one group of directive wheel one and four group tensioning wheel one, are used for wirerope
Guiding and tensioning；
The first joint of control, second joint, third joint, the are installed above the final drive box connecting sleeve connector
Four joints, the 5th joint, the 6th joint, the 7th joint, the 8th joint relative motion a guide wheel shaft and two tensioning wheels
Axis, wherein installing one group of directive wheel two and arm section a connection piece one, two tension wheel shafts above the guide wheel shaft
One group of tensioning wheel two is installed respectively above, described arm section a connection piece one be equipped with above control second joint, third joint,
4th joint, the 5th joint, the 6th joint, the 7th joint, the 8th joint relative motion two tension wheel shafts, wherein described
One group of tensioning wheel 3 is installed respectively, described arm section a connection piece one has rope groove above, for controlling above two tension wheel shafts
The opposite rotation of arm Duan Yiyu final drive box connecting sleeve；
Two axis of directive wheel swing shaft opposite with the first joint above first joint final drive box connecting sleeve connector
Line is overlapped, two axis of directive wheel and two two axis of tensioning wheel above the first joint final drive box connecting sleeve connector
Parallel with two three axis of tensioning wheel above arm section a connection piece one, the first joint controls the phase of the same joint rotation
The directive wheel two and tensioning wheel two, three median planes installed on adjacent final drive box connecting sleeve connector and arm section a connection piece one
It is in the same plane, the directive wheel one, two can be freely rotated relative to the guide wheel shaft, the tensioning wheel
One, it two, three can be freely rotated relative to the tension wheel shaft；
Second, third, fourth, fifth, the six, the seven, the 8th joint executing agencies and the first joint executing agency ties
Structure is essentially identical, wherein the directive wheel axis of third joint executing agency is overlapped with the rotation axis in third joint, institute
There are two tensioning wheel four, two tensioning wheel four axistyles for the same side installation for three connector of arm section, one rope grooves on stated
Rope groove on three connector one of two tensioning wheels four and arm section vertical and described with the rope groove axis on five connector one of arm section
Tangent line is overlapped, the opposite rotation for control arm Duan Sanyu arm section two；
4th joint, the 5th joint, the 6th joint, the 7th pass are installed in three connecting sleeve of third joint arm section
Section, the 8th joint directive wheel and tensioning wheel, two tensioning wheels for controlling same joint are arranged in directive wheel two sides, and control
Two tensioning wheel axis of the same joint rotation are vertical with directive wheel axis, and two tensioning wheels and directive wheel tangent line are overlapped；
The directive wheel axis of the 5th joint executing agency is overlapped with the rotation axis in the 5th joint, the arm Duan Wulian
There are two tensioning wheel five, two five axis of tensioning wheel are connect with arm section five for the same side installation of one rope grooves on of fitting
Rope groove tangent line on vertical and described five connector one of two tensioning wheels five and arm section of rope groove axis on part one is overlapped, and is used
In the opposite rotation of control arm Duan Wuyu arm Duan Si；
Be equipped in 5th joint arm section, five connecting sleeve the 6th joint, the 7th joint, the 8th joint directive wheel and
Tensioning wheel, two tensioning wheels for controlling same joint are arranged in directive wheel two sides, and control the two of the same joint rotation
A tensioning wheel axis is vertical with directive wheel axis, and two tensioning wheels and directive wheel tangent line are overlapped；
Further, at the end of the joint executing agency of described first, second, third, fourth, the five, the six, the 7th and the 8th
Line wheel two sides in the gear box of end are mounted on guide frame；
Further, the line in the first, second, third, fourth, the five, the six, the 7th and the 8th joint executing agency
There is steel wire rope groove on wheel and transmission wire wheel axis, is used for winding wire ropes；The second, third, fourth, fifth, the six, the 7th and
Grooved hole on the rope groove in line wheel and transmission wire wheel axis in 8th joint executing agency, steel cord ends are embedded in slot after knotting
Kong Zhong, for fixing steel cord ends；
Further, the correspondence of the first, second, third, fourth, the five, the six, the 7th and the 8th joint executing agency
Joint arm section connector rope groove grooved hole, steel cord ends are embedded in slot after knotting, for fixing steel cord ends；
Further, to prevent wirerope from deviating from from directive wheel and tensioning wheel, guiding can be installed in the position close to tensioning wheel
Orifice plate, make wirerope moved into along directive wheel and tensioning wheel tangent line lay out directive wheel and tensioning wheel after from the pilot hole of guide hole plate
It is pierced by adjacent segment；
Further, the first, second, third, fourth, the five, the six, the 7th and the 8th joint executing agency is described
Line wheel be set on the transmission wire wheel axis, have arc-shaped stay bolt on the line wheel and the transmission wire wheel axis
Hole, relative rotation is adjusted between the line wheel and the transmission wire wheel axis makes steel wire reach suitable in drive path
It is connected with and fastens after tightness.
3. the integral layout structure of the single hole operating robot with rotation positioning joint as described in claim 1, feature
It is, the quick-changing mechanism uses mechanically decoupled and driving method:
First joint driving mechanism of the surgical procedure instrument one includes a motor, which rotates,
The gear shaft is connected with interface clutch discs corresponding thereto；
The second, third, fourth, fifth of the surgical procedure instrument one is identical with the structure of the 6th joint driving mechanism, respectively
From including a motor, motor driven sun wheel shaft rotation is equipped with big sun gear and small too in the sun wheel shaft
Sun wheel, big sun gear and small sun gear engage with three planetary gears being mounted on planet carrier gear axis, three planetary gears with it is small
Sun gear external toothing, three planetary gears and big sun gear internal messing, three planetary gears are uniformly distributed around sun wheel shaft axis, described
Planet carrier gear axis is connected with interface clutch discs corresponding thereto；
The 7th of the surgical procedure instrument one is identical with the structure of the 8th joint driving mechanism, respectively includes a motor,
Motor driven sun wheel shaft rotation, is equipped with big sun gear and small sun gear in the sun wheel shaft, big sun gear and
Small sun gear is engaged with three planetary gears being mounted on planet carrier, three planetary gears and small sun gear external toothing, three planets
Wheel and big sun gear internal messing, three planetary gears are evenly distributed with around sun wheel shaft axis, the planet carrier and corresponding thereto
Interface clutch discs are connected；
Pacify between first, second, third, fourth, the 5th and the 6th joint driving mechanism of the surgical procedure instrument one
Equipped with a transition gear axle；Divide between 6th and the 7th joint driving mechanism and the 8th joint driving mechanism
One transition gear axle is not installed；Transition gear axle is fitted without between 7th and the 8th joint driving mechanism；
The gear shaft of the second joint driving mechanism of the surgical procedure instrument one and the first, second joint drive machine
Transition gear axle external toothing between structure, transition gear axle between first, second joint driving mechanism and described
The big sun gear external toothing of second joint driving mechanism；
The planet carrier gear axis of the second joint driving mechanism of the surgical procedure instrument one and second, third described joint
Transition gear axle external toothing between driving mechanism, transition gear axle between second, third described joint driving mechanism with
The big sun gear external toothing of the third joint driving mechanism；
The planet carrier gear axis of the third joint driving mechanism of the surgical procedure instrument one and the third, the 4th joint
Transition gear axle external toothing between driving mechanism, transition gear axle between the third, the 4th joint driving mechanism with
The big sun gear external toothing of 4th joint driving mechanism；
The planet carrier gear axis of 4th joint driving mechanism of the surgical procedure instrument one and the four, the 5th joints
Transition gear axle external toothing between driving mechanism, transition gear axle between the four, the 5th joint driving mechanisms with
The big sun gear external toothing of 5th joint driving mechanism；
The planet carrier gear axis of 5th joint driving mechanism of the surgical procedure instrument one and the five, the 6th joints
Transition gear axle external toothing between driving mechanism, transition gear axle between the five, the 6th joint driving mechanisms with
The big sun gear external toothing of 6th joint driving mechanism；
The planet carrier gear axis of 6th joint driving mechanism of the surgical procedure instrument one and the six, the 7th joints
Transition gear axle external toothing between driving mechanism, the transition tooth between the six, the 7th joint driving mechanisms
The big sun gear external toothing of wheel shaft and the 7th joint driving mechanism；
The planet carrier gear axis of 6th joint driving mechanism of the surgical procedure instrument one and the six, the 8th joints
The transition gear axle external toothing between driving mechanism, it is described between the six, the 8th joint driving mechanisms
The big sun gear external toothing of transition gear axle and the 8th joint driving mechanism；
Further, the gear shaft both ends of the first joint driving mechanism of the surgical procedure instrument one are axially solid by bearing
Fixed, bearing is fixed on the base；
Further, the institute of the second, third, fourth, fifth of the surgical procedure instrument one and the 6th joint driving mechanism
Three pin shafts are stretched out in the planet carrier gear axis one end stated, and three pin shafts of planet carrier gear axis are inserted into respectively in three planetary gears
In heart hole, planet carrier gear axis one end by bearing axial restraint, the planet carrier gear axis other end by three planet wheel spindles to
Fixed, sun wheel shaft and big sun gear both ends pass through bearing axial restraint respectively, one of bearing be fixed on sun wheel shaft and
On big sun gear, other two bearing is fixed on the base, and one end and the interface clutch discs of planet carrier gear axis form interference and match
It closes；
Further, described planet carrier one end of the 7th and the 8th joint driving mechanism of the surgical procedure instrument one is stretched
Three pin shafts of three pin shafts out, planet carrier are inserted into respectively in the centre bore of three planetary gears, and planet carrier one end passes through bearing axis
To fixation, for the planet carrier other end by three planetary gear axial restraints, sun wheel shaft and big sun gear both ends pass through bearing respectively
Axial restraint, one of bearing are fixed in sun wheel shaft and big sun gear, other two bearing is fixed on the base, planet
One end of frame and interface clutch discs, which are formed, to be interference fitted；
Further, the first, second, third, fourth, the 5th and the 6th joint driving mechanism of the surgical procedure instrument one
Between and the 6th joint driving mechanism and the 7th joint driving mechanism and the 8th joint driving mechanism
Between the transition gear axle both ends installed be fixed on the base by bearing axial restraint, bearing.
4. the integral layout structure of the single hole operating robot with rotation positioning joint as described in claim 1, feature
It is, the quick-changing mechanism is using control decoupling and driving method:
First, second, third, fourth, the five, the six, the 7th and the 8th joint drive machine of the surgical procedure instrument one
The structure of structure is identical, respectively includes a motor, motor driven transmission shaft rotation, the transmission shaft and corresponding thereto
Interface clutch discs are connected；
Further, the first, second, third, fourth, the five, the six, the 7th and the 8th of the surgical procedure instrument one is closed
The both ends of the drive shaft of driving mechanism is saved by bearing axial restraint, bearing is fixed on the base.
5. the integral layout structure of the single hole operating robot with rotation positioning joint as described in claim 1, feature
It is, the freedom degree of the surgical procedure instrument two is identical with the surgical procedure instrument one；Or described
Remove the 8th joint driving mechanism and the 8th joint executing agency on the basis of surgical procedure instrument one；
Further, the operation viewing instruments remove the 8th joint drive on the basis of the surgical procedure instrument one
Mechanism and the 8th joint executing agency, and seven freedom is changed on the basis of surgical procedure instrument one around the 7th joint shaft
Line z-axis is to rotation freedom degree；Or the 5th to seven freedom is changed to around the 5th joints axes y-axis to rotation freedom degree, around
Six joints axes x-axis are to rotation freedom degree, around the 7th joints axes z-axis to rotation freedom degree；
Or the operation viewing instruments remove the seven, the 8th joint drive machines on the basis of the surgical procedure instrument one
Structure and the seven, the 8th joint executing agencies；Or the 5th, six degree of freedom are changed to free to rotation around the 5th joints axes y-axis
Degree, around the 6th joints axes x-axis to rotation freedom degree.
6. the integral layout structure of the single hole operating robot with rotation positioning joint as described in claim 1, feature
It is, the pedestal includes base housing and base outer cover, and the base housing is equipped with twice positioning convex platform, pedestal shell
Body two sides are respectively equipped with two stay bolt holes, and the stay bolt hole is connected with base outer cover.
7. the integral layout structure of the single hole operating robot with rotation positioning joint as claimed in claim 6, feature
It is, there are two the base outer covers, is mounted and fixed to the two sides of base housing respectively；Guiding is designed above base outer cover
Sliding slot, guide chute top are in " horn mouth " shape；Guide chute end and intermediate channel bottom are in " circular arc " shape above base outer cover,
" circular arc " shape sliding slot slot bottom opening direction at guide chute end and middle part is vertical with guide chute axis direction, and should " circle
The guide chute end and intermediate channel bottom of arc " shape and the fixed pin shaft of surgical instrument executing agency form " interference " cooperation.
8. the integral layout structure of the single hole operating robot with rotation positioning joint as claimed in claim 6, feature
It is, stay bolt hole there are two designs on the base outer cover, two stay bolt holes and base housing above base outer cover
The long axially bored line in stay bolt hole above is vertical, when base outer cover being facilitated to be mounted and fixed on base housing adjust base outer cover with
The relative mounting positions of base housing.
9. the integral layout structure of the single hole operating robot with rotation positioning joint as claimed in claim 6, feature
It is, further includes a retaining mechanism for being fixed to surgical instrument executing agency in interface pedestal；The locking machine
Structure includes two groups, and every group includes a locking hook, and one end of two locking hooks is rotatably mounted on the same base outer cover,
It locks the hook other end and is equipped with groove, corresponding position is equipped with boss on surgical instrument executing agency shell, and locking is linked up with above
The boss cooperation of corresponding position is used for fixation surgical instrument executing agency on groove and surgical instrument executing agency shell.
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| CN201820332111.6U CN209091621U (en) | 2018-03-09 | 2018-03-09 | A kind of integral layout structure of the single hole operating robot with rotation positioning joint |
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| CN201820332111.6U CN209091621U (en) | 2018-03-09 | 2018-03-09 | A kind of integral layout structure of the single hole operating robot with rotation positioning joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108433811A (en) * | 2018-03-09 | 2018-08-24 | 山东大学齐鲁医院 | A kind of integral layout structure of the single hole operating robot with rotation positioning joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108433811A (en) * | 2018-03-09 | 2018-08-24 | 山东大学齐鲁医院 | A kind of integral layout structure of the single hole operating robot with rotation positioning joint |
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