CN209107584U - A kind of operating robot channels in series pipe - Google Patents
A kind of operating robot channels in series pipe Download PDFInfo
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- CN209107584U CN209107584U CN201821605165.1U CN201821605165U CN209107584U CN 209107584 U CN209107584 U CN 209107584U CN 201821605165 U CN201821605165 U CN 201821605165U CN 209107584 U CN209107584 U CN 209107584U
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- tube
- piece
- drive seat
- operating robot
- series pipe
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Abstract
The utility model provides a kind of operating robot channels in series pipe, including tube-like piece, drive seat and driving assembly, drive seat are mounted on tube-like piece, and driving assembly is mounted in drive seat.Tube-like piece can mutually axially be connected by bellmouth and socket.Surgical instrument passes through tube-like piece, engages with the actuator in the operating robot drive seat being mounted on tube wall, and be driven.The utility model forms mechanical arm using operating robot channels in series pipe connection drive seat, gathers around there are two freedom degree, surgical instrument can be driven to move forward and backward and rotary motion, and can carry out modular combination as needed to increase driving force.The utility model simplifies mechanical arm configuration, improves the portability and operability of operating robot.
Description
Technical field
The utility model relates to a kind of surgical robot systems, and in particular to a kind of operating robot channels in series pipe.
Background technique
With the development of science and technology more and more micro-wound surgical operations begin to use operating robot.Leonardo da Vinci's machine at present
Device people is that commercialization and the most successful minimally invasive robot of clinicization, the robot are fixed using open loop parallelogram telecentricity in the world
The shortcomings that position mechanism, realizes parallel four sides mechanism by synchronous steel belt constraint, the mechanism is to need in assembly by device
Find telecentricity anchor point.The shortcomings that passive arm is integrated using the mechanical arm based on mobile platform, this mode is entire mechanical system
Volume of uniting is larger, and needing passive arm tool for the ease of preoperative adjustment, there are four freedom degrees, causes cantilever beam longer, so that robot
Overall stiffness reduces.Consider simultaneously for the patent barrier of Leonardo da Vinci's minimally invasive robot in this respect, and now most of
The driving of Surgical instrument is often to make driving motor be arranged in the top of platform by motor direct-drive in this way, lead
It causes top-heavy, the driving moment in joint is increased, so that mechanical arm system is easy to produce vibration.Therefore novel operation is researched and developed
Robotic arm system is of great significance to the development of China minimally invasive robot field.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the utility model provides a kind of operating robot string
Connection deferent, for connecting operating robot drive seat.The joint number of operating robot is reduced, the knot of operating robot is simplified
Structure.
Technical solution: in order to solve the above technical problems, the utility model provides a kind of operating robot channels in series pipe,
Be characterized in: including tube-like piece, drive seat and driving assembly, the tube-like piece includes the lumen that both ends communicate with the outside world, the pipe
One end of shape part is bellmouth, and the other end is socket；The bellmouth can be detachably connected with the socket of another tube-like piece；
Surgical instrument is worn in the tube-like piece；The drive seat is mounted on tube-like piece, and the driving component is mounted on drive seat
On.It is preferred that the tube-like piece is hard straight tube.
Specifically, the bellmouth outer diameter is greater than the outer diameter of the tube-like piece.It is detachably connected stop collar on the socket,
The internal diameter of the stop collar is greater than or equal to the tube-like piece outer diameter.
Operating robot drive seat is equipped on tube wall between bellmouth and socket.The larger bellmouth of outer diameter and stop collar all may be used
Play the role of locating part, to limit the relative position of operating robot drive seat and tube wall.
Specifically, it is described be detachably connected be threadedly coupled or lock connection or interference connection.Preferably detachably connect
Mode is connect to be threadedly coupled.
Specifically, the drive seat protrudes from the outside of tube-like piece, there is the device of fixed driving assembly in drive seat.It is preferred that using
Bolt is fixed.It is preferred that drive seat be it is discoid, drive seat go in ring surround tube-like piece.
Specifically, at least one drive hole on the side wall of the tube-like piece, drive hole are located in drive seat.Drive hole is used
In contacting the driving assembly in surgical instrument and drive seat inside tube-like piece and be driven.
It is preferred that the upper limb of the drive hole extends to the upper limb with the tube-like piece, drive hole forms tube-like piece after extending
On notch.Surgical instrument in driving device and tube-like piece in drive seat is in close contact, and tube-like piece jaggy can be more
It is convenient across the position of close contact to add, and nozzle is avoided to be stuck.
Specifically, finite place piece on the inner tubal wall of the tube-like piece, the locating part are used to limit the hand across tube-like piece
Art instrument can only retreat along long axis direction.Preferably, the locating part is the projection or groove of bar shaped.
Specifically, specifically, finite place piece on the inner tubal wall of the tube-like piece, the locating part is for limiting across tubulose
The surgical instrument of part can only be rotated along long axis direction.Preferably, the locating part is the projection or groove of belt shape.
Specifically, there is outer tube wall between the tube-like piece bellmouth and socket, finite place piece on the outer tube wall of tube-like piece is used for
Limiting the outer tube wall can only retreat along tube-like piece long axis.
A kind of operating robot drive seat, it is characterised in that: above-mentioned operating robot channels in series pipe is among drive seat
It passes through, driving assembly is installed, driving assembly includes actuator and driving motor, and actuator and driving motor directly connect in drive seat
It connects or is coupled by transmission device.The surgical instrument passed through in the actuator and tube channel engages.
The utility model provides a kind of operating robot channels in series pipe, including a tube-like piece, tube-like piece can be by holding
Mouth and socket are mutually axially connected.Surgical instrument passes through tube-like piece, with the operating robot drive seat being mounted on tube wall
Interior actuator engagement, and be driven.The utility model forms machine using operating robot channels in series pipe connection drive seat
Tool arm is gathered around there are two freedom degree, surgical instrument can be driven to move forward and backward and rotary motion, and can carry out modularization group as needed
It closes to increase driving force.The utility model simplifies mechanical arm configuration, improves the portability and operability of operating robot.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of rotating channel pipe in embodiment one；
Fig. 2 is the structural schematic diagram of installation rotation drive seat on rotating channel pipe in embodiment one；
Fig. 3 is the diagrammatic cross-section of rotating channel pipe and rotation drive seat in embodiment one；
Fig. 4 is the structural schematic diagram of rotating channel pipe assembled in series in embodiment one；
Fig. 5 is the schematic diagram of advance and retreat driving tube and the assembling of advance and retreat drive seat in embodiment two；
Fig. 6 is the schematic diagram of advance and retreat driving tube and the assembling of rotating channel pipe in embodiment three；
Wherein: 1- tube channel, 2- stop collar, 3- fixed frame, 4- drive seat, 5- driving assembly, 6- surgical instrument；
11- tube-like piece, 12- drive hole, 13- bellmouth, 14- socket, 15- rotating channel pipe, 16- advance and retreat tube channel,
41- drive seat shell, 42- battery, 43- control circuit board, 44- rotate drive seat, 45- advance and retreat drive seat
51- actuator, 52- driving motor, 53- transmission device, 54- rotary drive assembly, 55- advance and retreat driving assembly.
Specific embodiment
Embodiment one
The structure of rotating channel pipe 15 in the operating robot channels in series pipe of the utility model is as shown in Figure 1, main body
It is the tubular tube-like piece 11 of stainless steel production, the lumen for thering are both ends to communicate with the outside world, 11 outer diameter 12mm of tube-like piece, internal diameter
10mm, long 80mm.11 upper limb of tube-like piece be outer diameter be 16mm, the bell-mouthed bellmouth 13 of internal diameter 12mm, inner wall have protrusion spiral shell
Line.11 lower edge of tube-like piece is the socket 14 of outer diameter 12mm, has screw thread on 14 outer wall of socket.
There are also outer diameter 16mm on tube wall, the stop collar 2 of internal diameter 12mm, long 5mm have screw thread, Ke Yiyu on 2 inner wall of stop collar
Socket 14 is threadedly coupled.
As shown in Figures 2 and 3, drive seat 4 is made of driving assembly 5, battery 42, control circuit board 43 and joint shell 42,
Joint shell 42 is two symmetric parts to being combined into, and above has circular open, tube-like piece 11 is passed through out of circular open.Pass after pairing
Section shell 42 by tube-like piece 11 stop collar 2 and bellmouth 13 clamp jointly, make drive seat 4 on tube-like piece 11 can not front and back it is living
It is dynamic.
Using rotation drive seat 44 in the present embodiment, when installation, first screws off stop collar 2, will rotation drive seat 44 from tube-like piece
11 lower sections are inserted in, then screw on stop collar 2.After stop collar 2 is tightened and bellmouth 13 clamps rotation drive seat 44 jointly, rotates drive seat
44 surface is smooth, can rotate along 11 axis of tube-like piece, but can not move up and down.
It rotates and rotary drive assembly 54 is installed in drive seat 44, actuator 51 is engaged with tube-like piece 11, can be with driving tube
Shape part 11 is rotated along own axes.Actuator 51 is driven by driving motor 52, and power is reached actuator by transmission device 53
51。
Actuator 51 is the roller bearing spline structure of rubber production in the present embodiment, is fixed on joint shell 42.Control circuit board
43 receive external control signal and control the movement of driving motor 52, and battery 42 is that rotation drive seat 44 provides electric power support.
11 inner wall of tube-like piece has the positive stop strip parallel with axis, agrees with the limiting slot in surgical instrument 6, when tube-like piece 11
When rotation, it will drive surgical instrument 6 and rotate together with.
Shell 42 surface in joint is identified with the position of internal part.In a non-limiting embodiments, joint shell 42 is
Transparent material is made, can be with the position of visible directly internal different components.
As shown in figure 4, two operating robot channels in series pipes can be connected, installation is same respectively to increase driving force
The rotation drive seat 44 of sample.The bellmouth 13 of second operating robot channels in series pipe is threadedly coupled with previous socket 14.
Drive seat 4 is fixed on the fixed frame 3 by operating bed.Fixed frame 3 includes with cross bar, upright bar and operating bed along fixed
Sliding block composition, is mounted on operating bed, and be mounted on the ceiling above patient in the form of furred ceiling.But this is practical new
Type is not limited to the link model.
Embodiment two
As shown in figure 5, the present embodiment and embodiment one have similar structure, distinguish on tube-like piece 11 in this present embodiment
There are two drive holes 12 being distributed along axisymmetrical, drive hole 12 is 10mm long, wide 10mm, apart from 14 edge 40mm of socket.Into
It moves back and advance and retreat drive seat 45 is installed on 16 outer wall of tube channel, advance and retreat driving assembly 55 is installed inside advance and retreat drive seat 45, drive
Moving part 51 passes through drive hole 12 and engages with surgical instrument 6, and surgical instrument 6 can be driven to retreat along 11 axis of tube-like piece.When installation
Stop collar 2 is first screwed off, advance and retreat drive seat 45 is inserted in below tube-like piece 11, then screw on stop collar 2.Stop collar 2 tighten after with
Bellmouth 13 clamps advance and retreat drive seat 45,45 surface of advance and retreat drive seat and bellmouth 13 and stop collar 2 jointly frictional force, makes to retreat and drive
Dynamic seat 45 can not only be rotated along 11 axis of tube-like piece, but also can not be moved up and down.
In a non-limiting embodiments, the lower edge of drive hole 12 extend to 14 edge of socket, form tubulose after extension
Notch on part 11, it is more convenient to pass through advance and retreat drive seat 45, avoid driven member 51 from blocking.
Embodiment three
As shown in fig. 6, the present embodiment is the advance and retreat tube channel in rotating channel pipe 15 and embodiment two in embodiment one
16 structures being used in combination after being threadedly coupled, fixed frame 3 are mounted in rotation drive seat 44.When the rotation driving rotation of drive seat 44
When turning the rotation of tube channel 15, the advance and retreat tube channel 16 being attached thereto and surgical instrument 6 synchronous rotary together, advance and retreat tube channel are driven
16 drive advance and retreat drive seat 45 to rotate therewith by frictional force.
Advance and retreat drive seat 45 and advance and retreat tube channel 16 and surgical instrument 6 are in relative static conditions, still can drive hand
Art instrument 6 is retreated along 11 axis of tube-like piece.Bar shaped locating part direction in 6 advance and retreat direction of surgical instrument and rotating channel pipe 15 is flat
Row, will not be hindered.Surgical instrument 6 can be made to possess rotation and two freedom of retreating by being applied in combination in the present embodiment
Degree.
Example IV
The present embodiment is similar to embodiment one, and difference is, the long 30cm of tube-like piece 11 described in the present embodiment, 13 He of bellmouth
There is outer tube wall between socket 14, outer tube wall is 30% to the 60% of 11 length of tube-like piece.Between the tube wall and outer tube wall of tube-like piece 11
There is bar shaped key as locating part, can only retreat along tube-like piece long axis for limiting the outer tube wall.Outer tube wall connects with driving assembly 5
It touches and is driven to rotate, tube-like piece 11 is limited part driving rotation.Can manually adjust surgical instrument 6 and tube-like piece 11 into
It moves back.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection,
Or it is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediary can also be passed through
It is indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, it can be managed with concrete condition
Solve the concrete meaning of above-mentioned term in the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, or
The utility model product using when the orientation or positional relationship usually put, be merely for convenience of description the utility model and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore should not be understood as limiting the present invention.
Above description is merely a prefered embodiment of the utility model, is not intended to limit the utility model, for
For those skilled in the art, various modifications and changes may be made to the present invention, in the principles of the present invention and technology
In the range of thought, a variety of variations, modifications, equivalent substitutions and improvements etc. are carried out to these embodiments, should be included in this reality
Within novel protection scope.
Claims (10)
1. a kind of operating robot channels in series pipe, it is characterized in that: including tube-like piece, drive seat and driving assembly, the tubulose
Part includes the lumen that both ends communicate with the outside world, and one end of the tube-like piece is bellmouth, and the other end is socket；The bellmouth can be with
The socket of another tube-like piece is detachably connected；Surgical instrument is worn in the tube-like piece；The drive seat is mounted on
On tube-like piece, the driving component is mounted in drive seat.
2. operating robot channels in series pipe as described in claim 1, it is characterized in that: the bellmouth outer diameter is greater than the tube-like piece
Outer diameter.
3. operating robot channels in series pipe as described in claim 1, it is characterized in that: being detachably connected limit on the socket
The internal diameter of ring, the stop collar is greater than or equal to the tube-like piece outer diameter.
4. the operating robot channels in series pipe as described in Claims 2 or 3, it is characterized in that: described, be detachably connected is screw thread
Connection or lock connection or interference connection.
5. operating robot channels in series pipe as described in claim 1, it is characterized in that: the drive seat protrudes from outside tube-like piece
Side has the device of fixed driving assembly in drive seat.
6. operating robot channels in series pipe as claimed in claim 5, it is characterized in that: the drive seat is discoid, drive seat
It goes in ring and surrounds tube-like piece.
7. operating robot channels in series pipe as claimed in claim 5, it is characterized in that: have drive hole on the tube-like piece side wall,
The drive hole is located in drive seat.
8. operating robot channels in series pipe as described in claim 1, it is characterized in that: having limit on the inner tubal wall of the tube-like piece
Part, the locating part are used to limit and can only retreat along tube-like piece long axis direction across the surgical instrument of tube-like piece.
9. operating robot channels in series pipe as described in claim 1, it is characterized in that: having limit on the inner tubal wall of the tube-like piece
Part, the locating part is used to limit can only rotate across the surgical instrument of tube-like piece along tube-like piece long axis.
10. operating robot channels in series pipe as described in claim 1, it is characterized in that: between the tube-like piece bellmouth and socket
There is outer tube wall, finite place piece on the outer tube wall of tube-like piece can only retreat for limiting the outer tube wall along tube-like piece long axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821605165.1U CN209107584U (en) | 2018-09-30 | 2018-09-30 | A kind of operating robot channels in series pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821605165.1U CN209107584U (en) | 2018-09-30 | 2018-09-30 | A kind of operating robot channels in series pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209107584U true CN209107584U (en) | 2019-07-16 |
Family
ID=67199922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821605165.1U Active CN209107584U (en) | 2018-09-30 | 2018-09-30 | A kind of operating robot channels in series pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209107584U (en) |
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2018
- 2018-09-30 CN CN201821605165.1U patent/CN209107584U/en active Active
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