CN209107587U - A kind of clamping device and tandem type Minimally Invasive Surgery main manipulator - Google Patents
A kind of clamping device and tandem type Minimally Invasive Surgery main manipulator Download PDFInfo
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- CN209107587U CN209107587U CN201721045439.1U CN201721045439U CN209107587U CN 209107587 U CN209107587 U CN 209107587U CN 201721045439 U CN201721045439 U CN 201721045439U CN 209107587 U CN209107587 U CN 209107587U
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- clamping device
- driving mechanism
- holding handle
- bracket
- helical column
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Abstract
It includes bracket, holding handle, arc curved piece, driving mechanism and helical column that the utility model, which provides a kind of clamping device and tandem type Minimally Invasive Surgery main manipulator, clamping device,；The driving mechanism setting is on the bracket, the arc curved piece is connected with holding handle, the helical column connects composition winch mechanism by wirerope with arc curved piece, the helical column is connected with the driving mechanism, so that the driving mechanism drives the helical column rotation that wirerope is driven to drive holding handle mobile.In the present solution, driving mechanism drives holding handle by the capstan winch kind of drive, easy to operate flexibly being not easy, which makes to clamp object, falls off, and improves the clamping effect of clamping device, and can feed back chucking power according to driving mechanism.
Description
Technical field
The utility model relates to surgical operation robot component technology fields, more particularly, to a kind of clamping device and series connection
Type Minimally Invasive Surgery main manipulator.
Background technique
With progress, the development of medical technology and the beneficial fusion of technology between the two of science and technology, with da
Vinci Surgical System (Leonardo da Vinci's surgical system) is that the robot assisted system of representative obtains in Minimally Invasive Surgery
To being widely applied.Wherein, micro-wound operation robot main manipulator has a very important role in Minimally Invasive Surgery, surgery doctor
It is raw that the movements such as surgical operating instrument completion shearing, knotting are controlled by it in the course of surgery.
Force feedback main manipulator currently on the market is directed to general application, and configuration design and working space are not
Meet Minimally Invasive Surgery needs, the main hand structure design of the operation in commercial minimally-invasive surgery robot system meets operation and wants
It asks, but does not have force feedback function.Disclose that " one kind is based on wire rope gearing application No. is the Chinese patent of CN104622575A
Micro-wound operation robot main manipulator ", can feedback space six-dimensional force and torque, but open-and-close mechanism does not have driving mechanism drive
Dynamic, clamping effect is poor, and can not feed back instrument chucking power.
Utility model content
One of the utility model is designed to provide a kind of clamping device, at least to solve skill existing in the prior art
One of art problem.
Another of the utility model is designed to provide a kind of tandem type Minimally Invasive Surgery use with above-mentioned clamping device
Main manipulator.
To achieve the goals above, the utility model provides following technical scheme；
The utility model first aspect provides a kind of clamping device, including bracket, holding handle, arc curved piece, driving
Mechanism and helical column；
On the bracket, the arc curved piece is connected with holding handle, the helical column for the driving mechanism setting
Composition winch mechanism is connected by wirerope with arc curved piece, the helical column is connected with the driving mechanism, so that described
Driving mechanism drives the helical column rotation that wirerope is driven to drive holding handle mobile.
In the above-mentioned technical solutions, further, the clamping device further includes potentiometer；
The potentiometer is fixed on the helical column, and is electrically connected with the driving mechanism.
In any of the above-described technical solution, further, the holding handle rotation is connected with connecting rod, the connection
It is provided with sliding part on bar, guide part is provided on the bracket, the sliding part is matched with the guide part, to realize
Sliding part is stated to move on the guide part.
In any of the above-described technical solution, further, the sliding part is sliding block, offers through-hole on the sliding block,
The guide part is guide rail, and the guide rail is arranged across the through-hole.
In any of the above-described technical solution, further, reset spring, the reset spring position are provided on the guide rail
Between the sliding block and bracket, so that the holding handle is in open configuration.
In any of the above-described technical solution, further, there are two the holding handle settings, and the connecting rod is provided with
Two, one end of each connecting rod is connected with corresponding holding handle, and the other end is connected with sliding part.
In any of the above-described technical solution, further, the driving mechanism is driving motor.
In any of the above-described technical solution, further, fixed line wheel is provided on the inside of the arc curved piece, it is described solid
Alignment wheel is used to fix the wirerope of winch mechanism.
In any of the above-described technical solution, further, the T-shaped setting of bracket.
The tandem type Minimally Invasive Surgery main manipulator that the utility model second aspect provides, including any of the above-described technical solution
The clamping device.
The tandem type Minimally Invasive Surgery main manipulator that the utility model second aspect provides is provided with first aspect offer
Clamping device, therefore whole beneficial effects of the clamping device provided with first aspect, just do not repeat one by one herein.
By adopting the above technical scheme, the utility model has the following beneficial effects:
Clamping device provided by the utility model, driving mechanism are arranged on bracket, and arc curved piece is connected with holding handle
It connects, helical column connects composition winch mechanism by wirerope with arc curved piece, and helical column is connected with driving mechanism, so that driving
Mechanism drives the rotation of helical column that wirerope is driven to drive holding handle mobile, and driving mechanism passes through the driving clamping of the capstan winch kind of drive
Handle, easy to operate flexibly being not easy, which makes to clamp object, falls off, and improves the clamping effect of clamping device, and can be according to driving mechanism
Feed back chucking power.
The additional aspect and advantage of the utility model will become obviously in following description section, or practical new by this
The practice of type is recognized.
Detailed description of the invention
It below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of tandem type Minimally Invasive Surgery main manipulator provided by the embodiment of the utility model；
Fig. 2 is the assembling structure schematic diagram of attitude-adjusting system and clamping device in Fig. 1；
Fig. 3 is the structural schematic diagram of clamping device provided by the embodiment of the utility model；
Fig. 4 is the structural schematic diagram of the slider-crank mechanism of clamping device shown in Fig. 3.
Appended drawing reference:
1- support frame；2- pedestal；3- position adjusting mechanism；4- attitude-adjusting system；5- clamping device；6- counterweight；51-
Driving motor；52- helical column；53- potentiometer；54- arc curved piece；55- bracket；56- holding handle；57- connecting rod；58- is led
Rail；59- sliding block；60- reset spring；61- fixes line wheel.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.It should be noted that in the absence of conflict, the feature in embodiments herein and embodiment can
To be combined with each other.
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" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
Explanation is further explained to the utility model below with reference to specific embodiment.
Fig. 1 is the structural schematic diagram of tandem type Minimally Invasive Surgery main manipulator provided by the embodiment of the utility model；Fig. 2 is
The assembling structure schematic diagram of attitude-adjusting system and clamping device in Fig. 1；
Fig. 3 is the structural schematic diagram of clamping device provided by the embodiment of the utility model；Fig. 4 is clamping machine shown in Fig. 3
The structural schematic diagram of the slider-crank mechanism of structure.
Embodiment one
As shown in Figure 3-4, clamping device 5 provided in this embodiment, including bracket 55, holding handle 56, arc curved piece 54,
Driving mechanism and helical column 52；
The driving mechanism is arranged on the bracket 55, and the arc curved piece 54 is connected with holding handle 56, described
Helical column 52 connects composition winch mechanism by wirerope with arc curved piece 54, and the helical column 52 is connected with the driving mechanism
It connects, so that the driving mechanism drives the rotation of helical column 52 that wirerope is driven to drive holding handle 56 mobile.
The clamping device 5 that the embodiments of the present invention one provide, driving mechanism are arranged on bracket 55, arc curved piece 54
Be connected with holding handle 56, helical column 52 and arc curved piece 54 connect composition winch mechanism by wirerope, helical column 52 with
Driving mechanism is connected, so that the driving mechanism driving rotation of helical column 52 drives wirerope to drive holding handle 56 mobile, driving
Mechanism drives holding handle 56 by the capstan winch kind of drive, and easy to operate flexibly being not easy, which makes to clamp object, falls off, and improves clamping machine
The clamping effect of structure 5, and chucking power can be fed back according to driving mechanism.
In an optional embodiment of the present embodiment, as shown in figure 3, the clamping device 5 further includes current potential
Device 53；
The potentiometer 53 is fixed on the helical column 52, and is electrically connected with the driving mechanism.It needs to illustrate
It is that driving mechanism can be driving motor 51, it is of course also possible to be other driving parts.
On the basis of the above embodiments, as shown in figure 4, the rotation of the holding handle 56 is connected with connecting rod 57, institute
It states and is provided with sliding part in connecting rod 57, guide part is provided on the bracket 55, the sliding part and the guide part match
It closes, to realize that the sliding part moves on the guide part.
In this embodiment, what holding handle 56 rotated is connected with connecting rod 57, is provided with sliding part in connecting rod 57,
Guide part is provided on bracket 55, the sliding part is matched with the guide part, to realize the sliding part in the guiding
It is moved in portion, it is easy to operate practical to realize that holding handle 56 forms crank slide mechanism.
On the basis of the above embodiment, it should be noted that as shown in figure 4, can choose the sliding part to slide
Block 59 specifically offers through-hole on the sliding block 59, the guide part is guide rail 58, and the guide rail 58 passes through the through-hole
Setting.
In this embodiment, sliding block 59 and guide rail 58 are used cooperatively, and structure is simple, connect compact, and occupied space
It is small.
On the basis of the above embodiment, described multiple as shown in figure 4, being provided with reset spring 60 on the guide rail 58
Position spring 60 is between the sliding block 59 and bracket 55, so that the holding handle 56 is in open configuration.
In this embodiment, the setting of reset spring 60 makes in the case where not applying driving force to holding handle 56,
Reset spring 60 can make holding handle 56 be in open configuration, be easy to use.
Specifically, as shown in Figure 3-4, there are two the settings of holding handle 56, there are two the settings of connecting rod 57, often
One end of a connecting rod 57 is connected with corresponding holding handle 56, and the other end is connected with sliding part.
The inside of the arc curved piece 54 is provided with fixed line wheel 61, and the fixed line wheel 61 is for fixing winch mechanism
Wirerope, the T-shaped setting of the bracket 55.
In a specific embodiment of the utility model, as shown in Figure 3-4, driving motor 51 is arranged in the branch
On frame 55, the arc curved piece 54 is fixedly connected with two holding handles 56, and the helical column 52 and arc curved piece 54 are logical
Wirerope connection composition winch mechanism is crossed, the helical column 52 is connected with the output shaft of the 8th driving motor 51, described
5 potentiometer 53 of clamping device is fixed on the helical column 52, and the 8th driving motor 51 is driven by the capstan winch kind of drive
The holding handle 56；
Wherein, the holding handle 56 uses slider-crank mechanism, and guide rail 58 is arranged on the bracket 55, two clampings
Handle 56 is connected separately with connecting rod 57, and one end of two connecting rods 57 is connected with sliding block 59, and the sliding block 59 is described
It is slided on guide rail 58, reset spring 60 is provided on the guide rail 58, the reset spring 60 is withstood on the sliding block 59, energy
The holding handle 56 is enough set to be in open configuration, and the inside of the arc curved piece 54 is provided with the fixed line wheel of clamping device 5
61, the fixed line wheel 61 of the clamping device 5 is used to fix the wirerope of winch mechanism.
Clamping device 5 realizes transmission using winch mechanism, and pair of two holding handles 56 is realized by slider-crank mechanism
Claim movement, it is easy to operate practical.
Embodiment two
As shown in Figs. 1-2, the tandem type Minimally Invasive Surgery main manipulator that the embodiments of the present invention two provide, including it is upper
State clamping device described in implementation one.
The tandem type Minimally Invasive Surgery main manipulator that the embodiment two of the utility model the provides, is provided with embodiment one and mentions
The clamping device of confession, as soon as therefore with embodiment provide clamping device whole beneficial effects, do not repeat one by one herein.
Specifically, as shown in Figs. 1-2, which includes support frame 1, pedestal 2, position tune
Complete machine structure 3, attitude-adjusting system 4 and clamping device 5；
The pedestal 2 is arranged on support frame as described above 1, and one end of the position adjusting mechanism 3 is connected with the pedestal 2
It connects, the other end is connected with the attitude-adjusting system 4, and the clamping device 5 is arranged on the attitude-adjusting system 4；
Wherein, the rotary joint and clamping machine of the rotary joint of the position adjusting mechanism 3, the attitude-adjusting system 4
Counterweight 6 is respectively arranged on the rotary joint of structure 5, each counterweight 6 is used for the gravity compensation to each rotary joint,
To realize the levitated equilibrium of each rotary joint, and the drive of the position adjusting mechanism 3, attitude-adjusting system 4 and clamping device 5
Only feedback operation power and the torque driving of responsible corresponding component respectively of dynamic device.
In conclusion tandem type Minimally Invasive Surgery main manipulator provided by the utility model, the rotation of position adjusting mechanism
Counterweight, each counterweight are respectively arranged on the rotary joint in joint, the rotary joint of attitude-adjusting system and clamping device
8 freedom degree tandem type masters are formed for the gravity compensation to each rotary joint to realize the levitated equilibrium of each rotary joint
Manipulator, can feedback space six-dimensional force and torque and chucking power, position adjusting mechanism is made of three rotary joints, driving electricity
Machine is installed on the base, is respectively driven three joints by wirerope, is reduced the movement inertia of main manipulator, pose adjustment machine
Structure is made of four rotary joints, and four joints axes are met at a bit, realization attitude decoupling, one in four joints of pose adjustment
A the other three joint to be made far from singular point by adjusting Joint motion for Joint motion, each joint for operating main hand is adopted
Gravity compensation is realized with counterweight mode, and motor is only responsible for feedback operation power and torque, to improve force feedback precision.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.In addition, it will be appreciated by those of skill in the art that although some implementations described herein
Example includes certain features included in other embodiments rather than other feature, but the group of the feature of different embodiments is desirable
Taste within the scope of the utility model and form different embodiments.For example, in claims above, institute
Claimed embodiment it is one of any can in any combination mode come using.It is disclosed in the background technology part
Information is merely intended to deepen the understanding to the general background technology of the utility model, and is not construed as recognizing or with any shape
Formula implies that the information constitutes the prior art known to those skilled in the art.
Claims (10)
1. a kind of clamping device, which is characterized in that including bracket, holding handle, arc curved piece, driving mechanism and helical column；
On the bracket, the arc curved piece is connected with holding handle, the helical column and arc for the driving mechanism setting
Shape bending connects composition winch mechanism by wirerope, and the helical column is connected with the driving mechanism, so that the driving
Mechanism drives the helical column rotation that wirerope is driven to drive holding handle mobile.
2. clamping device according to claim 1, which is characterized in that further include potentiometer；
The potentiometer is fixed on the helical column, and is electrically connected with the driving mechanism.
3. clamping device according to claim 1, which is characterized in that
The holding handle rotation is connected with connecting rod, and sliding part is provided in the connecting rod, is provided on the bracket
Guide part, the sliding part are matched with the guide part, to realize that the sliding part moves on the guide part.
4. clamping device according to claim 3, which is characterized in that
The sliding part is sliding block, and through-hole is offered on the sliding block, and the guide part is guide rail, and the guide rail passes through described logical
Hole setting.
5. clamping device according to claim 4, which is characterized in that
Reset spring is provided on the guide rail, the reset spring is between the sliding block and bracket, so that the clamping
Handle is in open configuration.
6. clamping device according to claim 3, which is characterized in that
There are two holding handle settings, and there are two the connecting rod settings, one end of each connecting rod with it is corresponding
Holding handle be connected, the other end is connected with sliding part.
7. clamping device according to claim 3, which is characterized in that
The driving mechanism is driving motor.
8. clamping device according to any one of claim 1 to 7, which is characterized in that
Fixed line wheel is provided on the inside of the arc curved piece, the fixed line wheel is used to fix the wirerope of winch mechanism.
9. clamping device according to claim 8, which is characterized in that
The T-shaped setting of bracket.
10. a kind of tandem type Minimally Invasive Surgery main manipulator, which is characterized in that including just like any one of claims 1 to 9 institute
The clamping device stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721045439.1U CN209107587U (en) | 2017-08-18 | 2017-08-18 | A kind of clamping device and tandem type Minimally Invasive Surgery main manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721045439.1U CN209107587U (en) | 2017-08-18 | 2017-08-18 | A kind of clamping device and tandem type Minimally Invasive Surgery main manipulator |
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| CN209107587U true CN209107587U (en) | 2019-07-16 |
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| CN201721045439.1U Active CN209107587U (en) | 2017-08-18 | 2017-08-18 | A kind of clamping device and tandem type Minimally Invasive Surgery main manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114271947A (en) * | 2021-12-27 | 2022-04-05 | 南京佗道医疗科技有限公司 | Main manipulator for decoupling clamping position |
-
2017
- 2017-08-18 CN CN201721045439.1U patent/CN209107587U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114271947A (en) * | 2021-12-27 | 2022-04-05 | 南京佗道医疗科技有限公司 | Main manipulator for decoupling clamping position |
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