CN209332128U - A kind of single hole surgical instrument with movement and rotation positioning joint - Google Patents
A kind of single hole surgical instrument with movement and rotation positioning joint Download PDFInfo
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- CN209332128U CN209332128U CN201820275015.2U CN201820275015U CN209332128U CN 209332128 U CN209332128 U CN 209332128U CN 201820275015 U CN201820275015 U CN 201820275015U CN 209332128 U CN209332128 U CN 209332128U
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Abstract
The single hole surgical instrument with movement and rotation positioning joint that the utility model discloses a kind of, surgical instrument executing agency are made of the first to the 8th joint executing agency, steel wire rope tensioning mechanism, fixed pin shaft, guiding mechanism and surgical instrument executing agency shell etc..Second to the 8th joint executing agency of surgical instrument executing agency passes through steel wire drive.Interface clutch discs above surgical instrument executing agency use single-row arrangement, keep the arm of force of the surgical instrument executing agency between the fixed point above interface pedestal longer, are more advantageous to the fixation of surgical instrument executing agency.Decoupling mechanism is mounted on joint driving mechanism, the structure design of surgical instrument executing agency is can simplify, is conducive to the volume production of surgical instrument executing agency.The utility model for single hole operating robot have the advantages that mobile and rotation positioning joint surgical instrument easy disassembly, accurate positioning, rigidity it is larger, it is rationally distributed, minimize, light-weighted.
Description
Technical field
The utility model relates in a kind of micro-wound surgical operation field Medical Devices more particularly to one kind be suitable for thoracic cavity
The surgical instrument of the minimally invasive surgery single hole operating robot operated with the Minimally Invasive Surgery in abdominal cavity.
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, accurate positioning, rigidity are provided
Larger, rationally distributed miniaturization light-weighted has mobile and rotation positioning joint hand for single hole operating robot
Art instrument, it can assist doctor to implement Minimally Invasive Surgery operation.
The utility model provides a kind of easy disassembly, accurate positioning, the miniaturization that rigidity is larger, rationally distributed, light weight
That changes has mobile and rotation positioning joint surgical instrument for single hole operating robot, and concrete scheme is as follows:
It is a kind of with mobile and rotation positioning joint single hole surgical instrument, including first, second, third, fourth, the
Five, the six, the seven, the 8th joint executing agency；Eight joint executing agencies include 8 freedom degrees, 8 freedom degrees from
Final drive box one end starts, successively are as follows: along one axis z-axis direction one-movement-freedom-degree of arm section, around second joint axis x-axis to pendulum
Turn freedom degree, is closed to rotation freedom degree around the 4th joints axes x-axis to rotation freedom degree around the 5th around third joints axes z-axis
Nodal axisn 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 from
By spending 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
Executing agency's each adjacent two joint freedom degrees axis direction spatial vertical, the 7th and the 8th two joints of joint executing agency are certainly
It is overlapped by degree axis.
The surgical instrument executing agency is mounted and fixed on the pedestal of joint driving mechanism, the joint drive
The nut of the pedestal of mechanism and a ball screw framework is connected, and the ball screw framework and fixing seat are connected.
Structure in the final drive box of the executing agency of second, third, fourth, fifth, the six, the 7th and the 8th
It is identical, it respectively include transmission wire wheel axis, a line wheel, interface clutch discs；Interface clutch discs one end connecting joint is driven
Motivation structure, the other end are connected with transmission wire wheel axis, are equipped with line wheel on the transmission wire wheel axis；Pass through interface clutch discs
Rotation drives the rotation of transmission wire wheel axis and line wheel.
The first joint executing agency be the surgical instrument executing agency by with the joint drive machine
The connected ball screw framework of structure shell is executed relative to the fixing seat being connected with the ball screw framework along surgical instrument
One axis direction of arm section of mechanism moves axially.
The second joint executing agency includes second joint transmission wire wheel axis, line wheel, interface clutch discs, arm Duan Yilian
Female connector pipe, two connecting sleeve of arm section, arm section a connection piece, two connector one of arm section, two connector two of arm section, arm section a connection piece
With the second joint of two connector of arm section, one junction；
Described second joint interface clutch discs one end connects second joint driving mechanism, and the other end and second joint are driven
Wire wheel axis is connected, and is equipped with line wheel on the second joint transmission wire wheel axis；Pass through the rotation of second joint interface clutch discs
Turn the rotation for driving second joint to be driven wire wheel axis and line wheel；
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 arm Duan Yilian at the second joint of described arm section a connection piece and two connector of arm section, one junction
The female connector pipe other end and described arm section a connection piece are connected, and control second is equipped with above described arm section a connection piece and is closed
Section, third joint, the 4th joint, the 5th joint, the 6th joint, the 7th joint, the 8th joint relative motion a directive wheel
Axis and two tension wheel shafts, wherein two connector one of one group of directive wheel two and arm section is installed above the guide wheel shaft, it is described
Two tension wheel shafts above one group of tensioning wheel two is installed respectively, described two connecting sleeve one end of arm section and the arm section two
Connector one is connected, and two connector one of the arm section is equipped with control third joint, the 4th joint, the 5th joint, the above
Six joints, the 7th joint, the 8th joint relative motion two tension wheel shafts, wherein above two tension wheel shafts respectively
One group of tensioning wheel three is installed, two connector one of arm section has rope groove above, for the opposite of control arm Duan Eryu arm section one
Rotation；
Two axis of directive wheel rotation axis opposite with second joint at second joint above arm section a connection piece is overlapped, the
Above two axis of directive wheel and two two axis of tensioning wheel and two connector one of arm section above two joint arm section a connection piece
Two three axis of tensioning wheel it is parallel, alternate arm section a connection piece and arm section of the same joint rotation are controlled at second joint
Directive wheel two and tensioning wheel two, three median planes installed on two connectors one are in the same plane, the directive wheel one, two
It can be freely rotated relative to the guide wheel shaft, the tensioning wheel one, two, three can be free relative to the tension wheel shaft
Rotation；The two connecting sleeve other end of arm section and two connector two of arm section are connected.
Third, the four, the five, the six, the seven, the 8th joint executing agencies and the second joint executing agency structure
It is essentially identical, wherein the directive wheel axis of third joint executing agency is overlapped with the rotation axis in third joint, it is described
Three connector of arm section, one rope grooves on the same side installation there are two tensioning wheel five, two five axis of tensioning wheel with
Rope groove on vertical and described three connector one of two tensioning wheels five and arm section of rope groove axis on five connector one of arm section is cut
Line is 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 six, two six 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 six 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.
The joint executing agency of second, third, fourth, fifth, the six, the 7th and the 8th is right respectively by wirerope
Second joint, third joint, the 4th joint, the 5th joint, the 6th joint, the 7th joint and the rotation of the 8th joint should be driven；
Further, at the end of the joint executing agency of the second, third, fourth, fifth, the six, the 7th and the 8th
Line wheel two sides in the gear box of end are mounted on guide frame；The guide frame respectively includes guide wheel shaft, guide wheel group
And sleeve, the sleeve are sleeved on the guide wheel shaft, the directive wheel is sleeved on guide wheel shaft；Guide wheel shaft
Both ends be fixed on base housing.
Further, the casing of the joint executing agency of the second, third, fourth, fifth, the six, the 7th and the 8th with
Respective both ends are correspondingly connected with part and keep interference to connect and fixed by pin shaft.
Further, the line in the joint executing agency of the second, third, fourth, fifth, the six, the 7th and the 8th
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 joint executing agency of the second, third, fourth, fifth, the six, the 7th and the 8th
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 second, third, fourth, fifth, the 6th joint executing agency are in the final drive box
It is interior single-row to be sequentially arranged；7th and the 8th joint executing agency in the final drive box with the 6th joint executing agency simultaneously
Connection arrangement.
Further, the joint executing agency of the second, third, fourth, fifth, the six, the 7th and the 8th 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 is connected with and fastens after adjusting relative rotation between the line wheel and the transmission wire wheel axis；The transmission
Wire wheel axis one end is fixed on surgical instrument executing agency shell by bearing, and the transmission wire wheel axis other end passes through
Bearing is fixed on surgical instrument executing agency shell；One end of the transmission wire wheel axis and the interface clutch discs
Section is in " D " font, and " D " shaped sections of the transmission wire wheel axis and the interface clutch discs, which are formed, to be interference fitted, institute
The one end for the transmission wire wheel axis stated transmission line wheel circumferentially fixed, described by " D " shaped sections with the interface clutch discs
One end of axis and the interface clutch discs pass through bolt axial restraint.
Further, the forerunner of the joint executing agency of the second, third, fourth, fifth, the six, the 7th and the 8th
In the steel wire trough of the fixed corresponding line wheel in one end of dynamic steel wire, the other end of preceding driving steel wire is fixed on respective corresponding joint
Ring like steel wire slot in；One end of the rear driving steel wire is fixed in the steel wire trough of corresponding transmission wire wheel axis, after
The other end of driving steel wire is fixed in the ring like steel wire slot of respective corresponding joint；By adjusting between line wheel and transmission wire wheel axis
Relative rotation, driving steel wire and rear driving steel wire reach suitable rate of tension in drive path before making, and then will be passed with bolt
Moving-wire wheel shaft and line wheel are connected with each other and fasten.
The utility model has the beneficial effects that
The utility model for single hole operating robot have mobile and rotation positioning joint surgical instrument with now
There is technology to compare to have the advantages that
1. the utility model has mobile and rotation positioning joint surgical instrument side for single hole operating robot
Just dismounting, accurate positioning, rigidity is larger, rationally distributed, miniaturization, lightweight.
2. surgical instrument joint driving mechanism is completely solved surgical instrument and is executed machine using mechanically decoupled or control decoupling
The mutual movement coupled problem generated when each joint rotation of structure.
3. the flexible movements of surgical instrument executing agency, it is small to complete various action movement ranges, effectively solves more instruments cooperations
When interference problem.
4. the interface clutch discs above surgical instrument executing agency M use single-row arrangement, make surgical instrument M in interface pedestal
The arm of force between fixed point above is longer, is more advantageous to surgical instrument executing agency M consolidating on joint driving mechanism N
It is fixed.
5. the interface clutch discs above surgical instrument executing agency M use single-row arrangement, the electricity above joint driving mechanism N
Machine and interface clutch discs " coaxially arranged " can execute second joint executing agency, third joint executing agency, the 4th joint
The drive of mechanism, the 5th joint executing agency, the 6th joint executing agency, the 7th joint executing agency and the 8th joint executing agency
The dynamic single-row arrangement of motor, a possibility that interfering when reducing multiple instrument co-operatings, space layout is reasonable.
6. the design of mechanically decoupled mechanism is not designed on surgical instrument executing agency M on joint driving mechanism N, this
Sample can simplify the structure design of surgical instrument executing agency M, and being conducive to surgical instrument executing agency M is mass production.
Detailed description of the invention
Fig. 1 is a kind of freedom for single hole operating robot surgical instrument executing agency double end class instrument of the utility model
Spend combination diagram.
Fig. 2, which is that the utility model is a kind of, has mobile and rotation positioning joint surgical device for single hole operating robot
The degrees of freedom combination schematic diagram of tool executing agency single head class instrument and 30 ° of hysteroscopes.
Fig. 3, which is that the utility model is a kind of, has mobile and rotation positioning joint surgical device for single hole operating robot
The degrees of freedom combination schematic diagram of 360 ° of hysteroscopes of tool executing agency.
Fig. 4, which is that the utility model is a kind of, has mobile and rotation positioning joint surgical device for single hole operating robot
The structure of the main view of tool executing agency.
Fig. 5, which is that the utility model is a kind of, has mobile and rotation positioning joint surgical device for single hole operating robot
The structure right side view of tool executing agency.
Fig. 6, which is that the utility model is a kind of, has mobile and rotation positioning joint surgical device for single hole operating robot
Tool executing agency and joint driving mechanism assemble schematic front view.
Fig. 7, which is that the utility model is a kind of, has mobile and rotation positioning joint surgical device for single hole operating robot
Tool executing agency and joint driving mechanism assemble right side view.
Fig. 8, which is that the utility model is a kind of, has mobile and rotation positioning joint surgical device for single hole operating robot
Tool executing agency and joint driving mechanism assemble schematic top plan view.
Fig. 9, which is that the utility model is a kind of, has mobile and rotation positioning joint surgical device for single hole operating robot
The structure of the main view of tool executing agency embodiment 2.
Figure 10, which is that the utility model is a kind of, has mobile and rotation positioning joint operation for single hole operating robot
The structure right side view of instrument executing agency embodiment 2.
Figure 11, which is that the utility model is a kind of, has mobile and rotation positioning joint operation for single hole operating robot
The structure of the main view of instrument executing agency embodiment 3.
Figure 12, which is that the utility model is a kind of, has mobile and rotation positioning joint operation for single hole operating robot
The assembly schematic front view of instrument executing agency embodiment 2.
Figure 13, which is that the utility model is a kind of, has mobile and rotation positioning joint operation for single hole operating robot
The assembly right side view of instrument executing agency embodiment 2.
Figure 14, which is that the utility model is a kind of, has mobile and rotation positioning joint operation for single hole operating robot
The assembly schematic top plan view of instrument executing agency embodiment 2.
Figure 15-Figure 17 is the partial enlarged view in Fig. 4.
Figure 18-Figure 20 is the partial enlarged view in Fig. 5.
In figure:
Joint driving mechanism N, surgical instrument executing agency M,
Fixing seat 1_1, ball screw framework 1_2, pedestal 1_3, base housing 1_3_1, base outer cover 1_3_2, locking are hung
Hook 1_3_3_1, locking hook 1_3_3_2, fixed pin shaft 1_3_4,
Guide wheel shaft 1_4_1_1,1_4_1_2,1_4_1_3,1_4_1_4,1_4_1_5,1_4_1_6,1_4_1_7,1_4_
1_8；Guide wheel group 1_4_2_1,1_4_2_2,1_4_2_3,1_4_2_4,1_4_2_5,1_4_2_6,1_4_2_7,1_4_2_8；
First joint 1_5；Second joint 2_1；Third joint 3_1, the 4th joint 4_1, the 5th joint 5_1, the 6th joint
6_1, the 7th joint 7_1, the 8th joint 8_1；
One 1_6 of arm section；Two 2_2 of arm section；Three 3_2 of arm section；Four 4_2 of arm section；Five 5_2 of arm section；Six 6_2 of arm section；Seven 7_ of arm section
2；Eight 8_2 of arm section；
Rigid bent joint 1_12,1_13；Directive wheel 1_12_1,1_13_1；Tensioning wheel 1_12_2,1_13_3 ' '
Two tension wheel shafts 1_15,1_16；One group of directive wheel 1_17；Tensioning wheel 1_18,1_19；Surgical instrument executing agency
Shell 1_20；Final drive box 1_4；
One connecting sleeve 1_10 of arm section；
Arm section a connection piece 1_11；Guide wheel shaft 1_14；
Two 2_2 of arm section；It is driven wire wheel axis 2_3；Line wheel 2_4；Interface clutch discs 2_5；Two connector of arm section, one 2_6；Arm section
Two connecting sleeve 2_7；Two connector of arm section, two 2_8；Tension wheel shaft 2_10,2_11；Tensioning wheel 2_13,2_14；
Tensioning wheel 5_17~5_18；Five connector of arm section, one 5_6；Five connecting sleeve 5_7 of arm section.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, the research and development of minimally invasive surgery single hole operating robot are also in starting in the prior art
In the stage, especially to the research of operation tool system, there are also biggish gaps compared with foreign technology, and therefore, exploitation silk is driven, is more
Freedom degree operation tool and the more stable efficient fast replacing device of the performance to match promote related fields to filling the domestic gaps
Technological progress is of great significance.It researchs and develops and possesses the mostly free of different silk driving forms and quick change mode from existing system
Degree operation tool system has far reaching significance in the science of the scientific research field, technology status for promoting China, in order to solve such as
On technical problem, present applicant proposes a kind of with mobile and rotation positioning joint single hole surgical instrument.
Embodiment 1
Illustrate present embodiment in conjunction with Fig. 1, Fig. 4~Fig. 8, Figure 15~Figure 20, is moved for having for single hole operating robot
Dynamic and rotation positioning joint surgical instrument executing agency M, including the first joint executing agency 1, second joint executing agency 2,
Third joint executing agency 3, the 4th joint executing agency 4, the 5th joint executing agency 5, the 6th joint executing agency the 6, the 7th
Joint executing agency 7 and the composition such as the 8th joint executing agency 8 and surgical instrument executing agency shell 1_20；
The surgical instrument executing agency M includes 8 freedom degrees, the surgical instrument executing agency M include 8
Freedom degree is since the one end final drive box 1_4, successively are as follows: along one 1_6 axis z-axis direction one-movement-freedom-degree of arm section, around second
Joint 2_1 axis x-axis is to rotation freedom degree, around third joint 3_1 axis z-axis to rotation freedom degree, around the 4th joint 4_1 axis
X-axis is to rotation freedom degree, around the 5th joint 5_1 axis z-axis to rotation freedom degree, around the 6th joint 6_1 axis x-axis to rotation from
By spending, around the 7th joint 7_1 axis y-axis to rotation freedom degree I, around the 7th joint 7_1 axis y-axis to rotation freedom degree II.The
One, second, third, fourth, fifth, the 6th, 7 each adjacent two joint freedom degrees axis direction space of the 7th joint executing agency
Vertically, 8 two joint freedom degrees axis of the 7th and the 8th joint executing agency are overlapped.
Surgical instrument executing agency M is mounted and fixed on the pedestal 1_3 of joint driving mechanism N, the joint drive
The nut of the base housing 1_3_1 of mechanism N and a ball screw framework 1_2 are connected, the ball screw framework 1_2 and solid
Reservation 1_1 is connected.
The second joint executing agency 2, third joint executing agency 3, the 4th joint executing agency 4, the 5th joint
The final drive box of executing agency 5, the 6th joint executing agency 6, the 7th joint executing agency 7 and the 8th joint executing agency 8
Structure in 1_4 is identical, respectively includes the composition such as transmission wire wheel axis, line wheel, interface clutch discs, a bearing；Described
Interface clutch discs one end connecting joint driving mechanism N, the other end are connected with transmission wire wheel axis, pacify on the transmission wire wheel axis
Equipped with line wheel；Transmission wire wheel axis and line wheel rotation are driven by the rotation of interface clutch discs；
The first joint executing agency 1 be the surgical instrument executing agency M by with the joint drive
Mechanism N base housing 1_3 connected ball screw framework 1_2 is relative to the fixation being connected with the ball screw framework 1_2
Seat 1_1 is moved axially along the one 1_6 axis direction of arm section of surgical instrument executing agency M；
The second joint executing agency 2 includes that second joint is driven wire wheel axis 2_3, line wheel 2_4, interface clutch discs 2_
5, one connecting sleeve 1_10 of arm section, two connecting sleeve 2_7 of arm section, arm section a connection piece 1_11, two connector of arm section, one 2_6, arm
Section two connectors, two 2_8, the second joint 2_1 of arm section a connection piece 1_11 and two connector of arm section, one junction 2_6；
Described second joint interface one end clutch discs 2_5 connects second joint driving mechanism, the other end and second joint
It is driven wire wheel axis 2_3 to be connected, line wheel 2_4 is installed on the second joint transmission wire wheel axis 2_3；It is connect by second joint
The rotation of mouth clutch discs 2_5 drives second joint transmission wire wheel axis 2_3 and line wheel 2_4 rotation；
Described one one end connecting sleeve 1_10 of arm section and the final drive box 1_4 are connected, the arm Duan Yilian
For female connector pipe 1_10 there are two rigid bent joint 1_12,1_13, each rigidity bent joint 1_12,1_13 are equipped with one group of guiding
1_12_1,1_13_1 and four groups of tensioning wheels 1_12_2,1_13_2 are taken turns, is oriented to and is tensioned for wirerope；
It is described at the arm section a connection piece 1_11 and second joint 2_1 of two connector of arm section, one junction 2_6
The one connecting sleeve 1_10 other end of arm section and arm section a connection piece 1_11 be connected, arm section a connection piece 1_11
Control second joint 2_1, third joint 3_1, the 4th joint 4_1, the 5th joint 5_1, the 6th joint 6_1, the are installed above
Seven joint 7_1, the 8th joint 8_1 relative motion a guide wheel shaft 1_14 and two tension wheel shafts 1_15,1_16, wherein institute
One 2_6 of one group of directive wheel 1_17 and two connector of arm section, two tension wheel shafts are installed above the guide wheel shaft 1_14 stated
One group of tensioning wheel 1_18,1_19 is installed respectively, described two one end connecting sleeve 2_7 of arm section and described above 1_15,1_16
Two connector of arm section, one 2_6 is connected, and control third joint 3_1, the 4th pass are equipped with above two connector of arm section, one 2_6
Save 4_1, the 5th joint 5_1, the 6th joint 6_1, the 7th joint 7_1, the 8th joint 8_1 relative motion two tension wheel shaft 2_
10,2_11, wherein one group of tensioning wheel 2_13,2_14 is installed respectively above described two tension wheel shafts 2_10,2_11, it is described
There is rope groove above two connector of arm section, one 2_6, the opposite rotation for two 2_2 of control arm section and one 1_6 of arm section.Second joint 2_
Directive wheel 1_17 axis rotation axis opposite with second joint 2_1 at 1 above arm section a connection piece 1_11 is overlapped, second joint
Directive wheel 1_17 axis and two tensioning wheel 1_18,1_19 axis and arm Duan Erlian at 2_1 above arm section a connection piece 1_11
Two tensioning wheel 2_13,2_14 axis above one 2_6 of fitting are parallel, and the same joint rotation is controlled at second joint 2_1
One 2_6 of alternate arm section a connection piece 1_11 and two connector of arm section on the directive wheel installed and tensioning wheel median plane be located at it is same
In plane, the directive wheel 1_17 can be freely rotated relative to the guide wheel shaft 1_14, described tensioning wheel 1_18,1_
19,2_13,2_14 can be freely rotated relative to described tension wheel shaft 1_15,1_16,2_10,2_11.The arm Duan Erlian
The female connector pipe 2_7 other end and two connector of arm section, two 2_8 are connected.
The third joint executing agency 3, the 4th joint executing agency 4, the 5th joint executing agency 5, the 6th joint
Executing agency 6, the 7th joint executing agency 7, the 8th joint executing agency 8 and second joint executing agency 2 structure are essentially identical.
Wherein the directive wheel axis of the third joint executing agency 3 is overlapped with the rotation axis of third joint 3_1, the arm section
There are two tensioning wheel 3_17,3_18, two tensioning wheel 3_ for the same side installation of three connectors, one 3_6 rope grooves on
17,3_18 axis two tensioning wheel 3_17,3_18s vertical and described with the rope groove axis on three connector of arm section, one 3_6 and
Rope groove tangent line on three connector of arm section, one 3_6 is overlapped, the opposite rotation for three 3_2 of control arm section and two 2_2 of arm section；It is described
Third joint 3_1 at be equipped in three connecting sleeve 3_7 of arm section the 4th joint 4_1, the 5th joint 5_1, the 6th joint 6_1,
7th joint 7_1, the 8th joint 8_1 directive wheel and tensioning wheel, described two tensioning wheel for controlling same joint are respectively arranged
In directive wheel two sides, and the described two tensioning wheel axis for controlling the same joint rotation is vertical with directive wheel axis, and controls
Two tensioning wheels and directive wheel tangent line for making the same joint rotation are overlapped.
The directive wheel axis of the 5th joint executing agency 5 is overlapped with the rotation axis of the 5th joint 5_1, described
There are two tensioning wheel 5_17,5_18, two tensioning wheels for the same side installation of five connector of arm section, one 5_6 rope grooves on
5_17,5_18 axis two tensioning wheel 5_17, the 5_18s vertical and described with the rope groove axis on five connector of arm section, one 5_6
It is overlapped with the rope groove tangent line on five connector of arm section, one 5_6, the opposite rotation for five 5_2 of control arm section and four 4_2 of arm section；Institute
The 6th joint 6_1, the 7th joint 7_1, the 8th joint 8_1 are installed in five connecting sleeve 5_7 of arm section at the 5th joint 5_1 stated
Directive wheel and tensioning wheel, described two tensioning wheel for controlling same joint is arranged in directive wheel two sides, and controls same
The described two tensioning wheel axis of a joint rotation is vertical with directive wheel axis, and controls two of the same joint rotation
Bearing up pulley and directive wheel tangent line are overlapped.
The second joint executing agency 2, third joint executing agency 3, the 4th joint executing agency 4, the 5th joint
Executing agency 5, the 6th joint executing agency 6, the 7th joint executing agency 7 and the 8th joint executing agency 8 pass through wirerope point
Second joint 2_1, third joint 3_1, the 4th joint 4_1, the 5th joint 5_1, the 6th joint 6_1, the 7th Dui Ying not be driven to close
Save 7_1 and the 8th joint 8_1 rotation；
Further, in the second joint executing agency 2, third joint executing agency 3, the 4th joint executing agency
4, the 5th joint executing agency 5, the 6th joint executing agency 6, the 7th joint executing agency 7 and the 8th joint executing agency 8
Line wheel two sides in final drive box 1_4 are mounted on guide frame；The guide frame respectively includes guide wheel shaft, guiding
Wheel group and sleeve, the sleeve are sleeved on the guide wheel shaft, and the directive wheel is sleeved on guide wheel shaft；Guiding
The both ends of wheel shaft are fixed on base housing 1_3_1.
Further, the second joint executing agency 2, third joint executing agency 3, the 4th joint executing agency 4,
The set of 5th joint executing agency 5, the 6th joint executing agency 6, the 7th joint executing agency 7 and the 8th joint executing agency 8
Cylinder is correspondingly connected with part holding interference with respective both ends and connect and fixed by pin shaft.
Further, the second joint executing agency 2, third joint executing agency 3, the 4th joint executing agency 4,
In 5th joint executing agency 5, the 6th joint executing agency 6, the 7th joint executing agency 7 and the 8th joint executing agency 8
There is steel wire rope groove on line wheel and transmission wire wheel axis, is used for winding wire ropes；The second joint executing agency 2, third joint are held
Row mechanism 3, the 4th joint executing agency 4, the 5th joint executing agency 5, the 6th joint executing agency 6, the 7th joint execute machine
Grooved hole on the rope groove in line wheel and transmission wire wheel axis in structure 7 and the 8th joint executing agency 8, steel cord ends are embedding after knotting
Enter in slot, for fixing steel cord ends.
Further, the second joint executing agency 2, third joint executing agency 3, the 4th joint executing agency 4,
Pair of 5th joint executing agency 5, the 6th joint executing agency 6, the 7th joint executing agency 7 and the 8th joint executing agency 8
It is embedded in slot after answering joint arm section connector rope groove grooved hole, steel cord ends to knot, 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 second joint executing agency 2, third joint executing agency 3, the 4th joint executing agency 4,
5th joint executing agency 5, the 6th joint executing agency 6 is single-row in the final drive box 1_3_4 is sequentially arranged；7th
Joint executing agency 7 and the 8th joint executing agency 8 in the final drive box 1_3_4 with the 6th joint executing agency 6
Parallel arrangement.
Further, the second joint executing agency 2, third joint executing agency 3, the 4th joint executing agency 4,
5th joint executing agency 5, the 6th joint executing agency 6, the 7th joint executing agency 7 and the 8th joint executing agency 8 institute
The line wheel stated is set on the transmission wire wheel axis, has arc-shaped stay bolt on the line wheel and the transmission wire wheel axis
Hole is connected with and fastens after adjusting relative rotation between the line wheel and the transmission wire wheel axis；The transmission
Wire wheel axis one end is fixed on the surgical instrument executing agency shell 1_20 by bearing, the transmission wire wheel axis other end
It is fixed on the surgical instrument executing agency shell 1_20 by bearing；One end of the transmission wire wheel axis connects with described
Mouth clutch discs section is in " D " font, and " D " shaped sections of the transmission wire wheel axis and the interface clutch discs form interference
Cooperation, one end of transmission wire wheel axis biography circumferentially fixed, described by " D " shaped sections with the interface clutch discs
One end of moving-wire wheel shaft and the interface clutch discs pass through bolt axial restraint.
Further, the second joint executing agency 2, third joint executing agency 3, the 4th joint executing agency 4,
Before 5th joint executing agency 5, the 6th joint executing agency 6, the 7th joint executing agency 7 and the 8th joint executing agency 8
In the steel wire trough for driving the fixed corresponding line wheel in one end of steel wire, the other end of preceding driving steel wire is fixed on respectively corresponding close
In the ring like steel wire slot for saving 2_1~8_1；One end of the rear driving steel wire is fixed on the steel of corresponding transmission wire wheel axis
In silk slot, the rear other end for driving steel wire is fixed in the ring like steel wire slot of respective corresponding joint 2_1~8_1；By adjusting line
Relative rotation between wheel and transmission wire wheel axis, driving steel wire and rear driving steel wire reach suitable tensioning in drive path before making
Then degree will be driven wire wheel axis and line wheel with bolt and be connected with each other and fasten.
Specific wirerope trend is as follows:
Second joint 2_1, third joint 3_1, the 4th joint 4_1, the 5th joint 5_1, the 6th joint 6_1, the 7th joint
Steel wire is driven to move towards essentially identical before 7_1, the 8th joint 8_1.Second joint 2_1, third joint 3_1, the 4th joint 4_1,
One end of steel wire is driven to be separately fixed at the second pass before five joint 5_1, the 6th joint 6_1, the 7th joint 7_1, the 8th joint 8_1
Section executing agency 2, third joint executing agency 3, the 4th joint executing agency 4, the 5th joint executing agency 5, the 6th joint are held
Row mechanism 6, the 7th joint executing agency 7, line wheel in the 8th joint executing agency 8 steel wire trough in, second joint 2_1,
Steel is driven before three joint 3_1, the 4th joint 4_1, the 5th joint 5_1, the 6th joint 6_1, the 7th joint 7_1, the 8th joint 8_1
Silk the other end respectively counterclockwise from second joint executing agency 2, third joint executing agency 3, the 4th joint executing agency 4,
5th joint executing agency 5, the 6th joint executing agency 6, the 7th joint executing agency 7, the line in the 8th joint executing agency 8
It is laid out in the steel wire trough of wheel further around two rigidity successively bypassed after the directive wheel crossed in final drive box 1_4 on one 1_6 of arm section
Guide wheel group 1_12_1,1_13_1 and tensioning wheel group 1_12_2,1_13_2, the joint and end at bent joint 1_12,1_13
Hold the guide wheel group and tensioning wheel group, the pass of the control of each joint between the gear box 1_4 joint arm section relative motion
The tensioning wheel group of the control joint arm section relative motion at section moves into ring in the arm section connector one of the joint counterclockwise
It is fixed in shape steel wire trough and in the ring like steel wire slot in the arm section connector one of the joint.
Second joint 2_1, third joint 3_1, the 4th joint 4_1, the 5th joint 5_1, the 6th joint 6_1, the 7th joint
Steel wire is driven to move towards essentially identical after 7_1, the 8th joint 8_1.Second joint 2_1, third joint 3_1, the 4th joint 4_1,
One end of steel wire is driven to be separately fixed at the second pass after five joint 5_1, the 6th joint 6_1, the 7th joint 7_1, the 8th joint 8_1
Section executing agency 2, third joint executing agency 3, the 4th joint executing agency 4, the 5th joint executing agency 5, the 6th joint are held
Row mechanism 6, the 7th joint executing agency 7, line wheel in the 8th joint executing agency 8 steel wire trough in, second joint 2_1,
Steel is driven after three joint 3_1, the 4th joint 4_1, the 5th joint 5_1, the 6th joint 6_1, the 7th joint 7_1, the 8th joint 8_1
Silk the other end respectively clockwise from second joint executing agency 2, third joint executing agency 3, the 4th joint executing agency 4,
5th joint executing agency 5, the 6th joint executing agency 6, the 7th joint executing agency 7, the line in the 8th joint executing agency 8
It is laid out in the steel wire trough of wheel further around two rigidity successively bypassed after the directive wheel crossed in final drive box 1_4 on one 1_6 of arm section
Guide wheel group 1_12_1,1_13_1 and tensioning wheel group 1_12_2,1_13_2, the joint and end at bent joint 1_12,1_13
Hold the guide wheel group and tensioning wheel group, the pass of the control of each joint between the gear box 1_4 joint arm section relative motion
At section control the joint arm section relative motion tensioning wheel group, clockwise about the ring in the arm section connector one into the joint
It is fixed in shape steel wire trough and in the ring like steel wire slot in the arm section connector one of the joint.
Working principle of the utility model is:
Second joint executing agency 2, third joint executing agency 3, the 4th joint executing agency 4, the 5th joint execute machine
Structure 5, the 6th joint executing agency 6, the 7th joint executing agency 7, each arm section 2_2~8_2 in the 8th joint executing agency 8 around
Respective corresponding joint 2_1~8_1 guide wheel shaft realization rotates clockwise: second joint executing agency 2, third joint executing agency
3, the 4th joint executing agency 4, the 5th joint executing agency 5, the 6th joint executing agency 6, the 7th joint executing agency 7,
The interface clutch discs of eight joint executing agencies 8 rotate clockwise under the input of joint driving mechanism N power, and second joint executes machine
Structure 2, third joint executing agency 3, the 4th joint executing agency 4, the 5th joint executing agency 5, the 6th joint executing agency 6,
7th joint executing agency 7, the 8th joint executing agency 8 interface clutch discs drive the drive line of each joint executing agency 2~8
Wheel shaft, line wheel rotate clockwise, second joint executing agency 2, third joint executing agency 3, the 4th joint executing agency 4,
The drive line of five joint executing agencies 5, the 6th joint executing agency 6, the 7th joint executing agency 7, the 8th joint executing agency 8
Wheel shaft, line wheel drive each arm section 2_2~8_2 driving steel wire to rotate clockwise, and each arm section 2_2~8_2 driving steel wire drives each arm
It is successively curved around two rigidity in arm section one after the directive wheel in final drive box 1_4 that section 2_2~8_2 driving steel wire bypasses
Roll over guide wheel group 1_12_1,1_13_1 and tensioning wheel group 1_12_2,1_13_3, the joint and end at joint 1_12,1_13
The guide wheel group and tensioning wheel group, the joint for controlling the joint arm section relative motion of each joint between gear box 1_4
The rope groove of the arm section connector one of the tensioning wheel group and joint of the control at the place joint arm section relative motion rotates clockwise,
To drive the arm section to rotate clockwise.
Second joint executing agency 2, third joint executing agency 3, the 4th joint executing agency 4, the 5th joint execute machine
Structure 5, the 6th joint executing agency 6, the 7th joint executing agency 7, each arm section 2_2~8_2 in the 8th joint executing agency 8 around
Respective corresponding joint 2_1~8_1 guide wheel shaft realization rotates counterclockwise: second joint executing agency 2, third joint executing agency
3, the 4th joint executing agency 4, the 5th joint executing agency 5, the 6th joint executing agency 6, the 7th joint executing agency 7,
The interface clutch discs of eight joint executing agencies 8 rotate counterclockwise under the input of joint driving mechanism N power, and second joint executes machine
Structure 2, third joint executing agency 3, the 4th joint executing agency 4, the 5th joint executing agency 5, the 6th joint executing agency 6,
7th joint executing agency 7, the 8th joint executing agency 8 interface clutch discs drive the drive line of each joint executing agency 2~8
Wheel shaft, line wheel rotate counterclockwise, second joint executing agency 2, third joint executing agency 3, the 4th joint executing agency 4,
The drive line of five joint executing agencies 5, the 6th joint executing agency 6, the 7th joint executing agency 7, the 8th joint executing agency 8
Wheel shaft, line wheel drive each arm section 2_2~8_2 driving steel wire to rotate counterclockwise, and each arm section 2_2~8_2 driving steel wire drives each arm
It is successively curved around two rigidity in arm section one after the directive wheel in final drive box 1_4 that section 2_2~8_2 driving steel wire bypasses
Roll over guide wheel group 1_12_1,1_13_1 and tensioning wheel group 1_12_2,1_13_3, the joint and end at joint 1_12,1_13
The guide wheel group and tensioning wheel group, the joint for controlling the joint arm section relative motion of each joint between gear box 1_4
The rope groove of the arm section connector one of the tensioning wheel group and joint of the control at the place joint arm section relative motion rotates counterclockwise,
To drive the arm section to rotate counterclockwise.
First joint executing agency 1 realizes that axial advancement moves along one 1_6 axis direction of arm section: surgical instrument executing agency
M by with the joint driving mechanism shell 1_3 be connected ball screw framework 1_2 relative to the ball-screw machine
Structure 1_2 connected fixing seat 1_1 moves realization the along the one 1_6 axis direction axial advancement of arm section of surgical instrument executing agency M
One joint executing agency 1 realizes that axial advancement moves along one 1_6 axis direction of arm section.
First joint executing agency 1 realizes that axial retreat is moved along one 1_6 axis direction of arm section: surgical instrument executing agency
M by with the joint driving mechanism shell 1_3 be connected ball screw framework 1_2 relative to the ball-screw machine
Structure 1_2 connected fixing seat 1_1 is axially retreated along the one 1_6 axis direction of arm section of surgical instrument executing agency M moves realization the
One joint executing agency 1 realizes that axial retreat is moved along one 1_6 axis direction of arm section.
With mobile and installation between the surgical instrument executing agency M and joint driving mechanism N of rotation positioning joint with
Disassembly:
When surgical instrument executing agency M is installed in joint driving mechanism N, surgical instrument executing agency M along pedestal outside
Cover 1_3_2 above " horn mouth " shape guide chute top slide into base outer cover 1_3_2 above guide chute end and in
Portion's slot bottom, the fixed pin shaft of guide chute end and intermediate channel bottom and surgical instrument executing agency M above base outer cover 1_3_2
1_3_4 forms " interference " cooperation, while 1_3_3_1,1_ are linked up in two lockings rotated above two base outer cover 1_3_2 respectively
3_3_2 makes corresponding position on the groove and surgical instrument executing agency M shell above locking hook 1_3_3_1,1_3_3_2
Boss cooperation, to prevent the fixed pin shaft 1_3_4 of surgical instrument executing agency M from the guide chute above base outer cover 1_3_2
In " skid off ", cause surgical instrument executing agency M " to separate " with joint driving mechanism N.Meanwhile two on base housing 1_3_1
Road positioning convex platform can be positioned and be fixed to surgical instrument executing agency M；
When surgical instrument executing agency M is separated from joint driving mechanism N, while two base outer cover 1_ are rotated respectively
1_3_3_1,1_3_3_2 are linked up in two lockings above 3_2, make groove and hand above locking hook 1_3_3_1,1_3_3_2
The boss separation of corresponding position on art instrument executing agency M shell, surgical instrument executing agency M is along on base outer cover 1_3_2
The guide chute end and intermediate channel bottom in face skid off base outer cover 1_3_2 from the guide chute top of " horn mouth " shape, make hand
Art instrument executing agency M " is separated " with joint driving mechanism N.
Embodiment 2
Illustrate present embodiment in conjunction with Fig. 9, Figure 10, Figure 12~Figure 14, it, can on the basis of the technical solution of embodiment one
By two rigid bent joints of one 1_6 of arm section with mobile and rotation positioning joint surgical instrument executing agency M
The layout of 1_12,1_13 are changed to attached drawing 9, the structure in attached drawing 10.
Illustrate present embodiment in conjunction with Fig. 9, Figure 10, Figure 12~Figure 14, it, can on the basis of the technical solution of embodiment one
It will be used for one 1_6's of arm section with mobile and rotation positioning joint surgical instrument executing agency M of single hole operating robot
The layout of two rigid bent joint 1_12,1_13 are changed to attached drawing 9, the structure in Figure 10.I.e. by the technical solution of embodiment one
In one 1_6 of arm section with mobile and rotation positioning joint surgical instrument executing agency M for single hole operating robot
Two rigid bent joint 1_12,1_13 distributing adjustment be embodiment two technical solution, equally can correctly drive and
Decoupling.
Embodiment 3
Embodiment is described with reference to Fig. 11, can be by institute on the basis of the technical solution of embodiment one or embodiment two
State the structure that the cord layout with mobile and rotation positioning joint surgical instrument executing agency M is changed in attached drawing 11.
Embodiment is described with reference to Fig. 11, on the basis of the technical solution of embodiment one or embodiment two, can will use
In the layout of the gear box 1_4 with mobile and rotation positioning joint surgical instrument executing agency M of single hole operating robot
The structure being changed in attached drawing 11.I.e. by the tool for being used for single hole operating robot in the technical solution of embodiment one or embodiment two
The distributing adjustment for having the gear box of mobile and rotation positioning joint surgical instrument executing agency M is the technical side of embodiment three
Case, while the layout of the mechanically decoupled of minimally invasive surgery single hole operating robot or the joint driving mechanism N of control decoupling also being adjusted
The whole technical solution for embodiment three, equally correctly can drive and decouple.
Above-mentioned mobile and rotation positioning joint the surgical instrument executing agency M that has for single hole operating robot can be with
Applied to double end class instrument, such as clamping class instrument, shearing class instrument；Such as Fig. 2, by the above-mentioned tool for being used for single hole operating robot
There is the 8th joint executing agency 8 of mobile and rotation positioning joint surgical instrument executing agency M to remove, can be used for single hole hand
There is mobile and rotation positioning joint surgical instrument executing agency M to be applied to single head class instrument for art robot, such as cut class
Instrument etc.；7th joint 7_1 is changed to rotation joint, then can be applied to 30 ° of hysteroscope class instruments etc..Such as Fig. 3, list is used for by above-mentioned
The 7th joint driving mechanism 7 with mobile and rotation positioning joint surgical instrument executing agency M of hole operating robot, the
Eight joint driving mechanisms 8 remove, and can be used for single hole operating robot has mobile and rotation positioning joint surgical instrument
Executing agency M is applied to 360 ° of hysteroscope class instruments etc..
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 (10)
1. a kind of with mobile and rotation positioning joint single hole surgical instrument, which is characterized in that including first, second, third,
Four, the five, the six, the seven, the 8th joint executing agencies；Eight joint executing agencies include 8 freedom degrees, 8
Freedom degree is since final drive box one end, successively are as follows: along one axis z-axis direction one-movement-freedom-degree of arm section, around second joint axis
Line x-axis is free to rotation around the 4th joints axes x-axis around third joints axes z-axis to rotation freedom degree to rotation freedom degree
Degree, around the 5th joints axes z-axis to rotation freedom degree, around the 6th joints axes x-axis to rotation freedom degree, around the 7th joints axes
Y-axis is to rotation freedom degree I, around the 7th joints axes y-axis to rotation freedom degree II；The first, second, third, fourth, the 5th,
Six, the 7th joint executing agency each adjacent two joint freedom degrees axis direction spatial vertical, the 7th and the 8th joint execute machine
Two joint freedom degrees axis of structure are overlapped；
The executing agency is mounted and fixed on the pedestal of joint driving mechanism, the second, third, fourth, fifth,
Six joint executing agencies are single-row in the final drive box to be sequentially arranged；7th and the 8th joint executing agency is described
It is arranged in parallel in final drive box with the 6th joint executing agency；The pedestal of the joint driving mechanism and a ball-screw
The nut of mechanism is connected, and the ball screw framework and fixing seat are connected；The second, third, fourth, fifth, the 6th,
7th is identical with the structure in the 8th final drive box, respectively includes transmission wire wheel axis, a line wheel, interface clutch discs；
Interface clutch discs one end connecting joint driving mechanism, the other end is connected with transmission wire wheel axis, in the transmission line wheel
Line wheel is installed on axis；The rotation of transmission wire wheel axis and line wheel is driven by the rotation of interface clutch discs.
2. as described in claim 1 have mobile and rotation positioning joint single hole surgical instrument, which is characterized in that described
First joint executing agency is that surgical instrument executing agency passes through the ball-screw connected with the joint driving mechanism shell
Mechanism is relative to the fixing seat being connected with the ball screw framework along one axis direction of arm section of surgical instrument executing agency
Axial movement.
3. as described in claim 1 have mobile and rotation positioning joint single hole surgical instrument, which is characterized in that
The second joint executing agency includes second joint transmission wire wheel axis, line wheel, interface clutch discs, one connector sleeve of arm section
Pipe, two connecting sleeve of arm section, arm section a connection piece, two connector one of arm section, two connector two of arm section, arm section a connection piece and arm
The second joint of two connector of section, one junction；
Described second joint interface clutch discs one end connects second joint driving mechanism, and the other end and second joint are driven line wheel
Axis is connected, and is equipped with line wheel on the second joint transmission wire wheel axis；Pass through the rotation band of second joint interface clutch discs
The rotation of dynamic second joint transmission wire wheel axis and line wheel；
Described one connecting sleeve one end of arm section and the final drive box are connected, and there are two one connecting sleeves of arm section
Rigid bent joint, each rigidity bent joint are equipped with one group of directive wheel one and four group tensioning wheel one, are oriented to for wirerope
With tensioning；
One connector sleeve of arm section at the second joint of described arm section a connection piece and two connector of arm section, one junction
The pipe other end and described arm section a connection piece are connected, and control second joint, the are equipped with above described arm section a connection piece
Three joints, the 4th joint, the 5th joint, the 6th joint, the 7th joint, the 8th joint relative motion a guide wheel shaft and two
A tension wheel shaft, wherein two connector one of one group of directive wheel two and arm section is installed above the guide wheel shaft, described two
One group of tensioning wheel two, described two connecting sleeve one end of arm section and two connector of arm section are installed respectively above tension wheel shaft
One is connected, two connector one of the arm section be equipped with above control third joint, the 4th joint, the 5th joint, the 6th joint,
7th joint, the 8th joint relative motion two tension wheel shafts, wherein installing one respectively above two tension wheel shafts
Group tensioning wheel three, two connector one of arm section have rope groove above, the opposite rotation for control arm Duan Eryu arm section one；
Two axis of directive wheel rotation axis opposite with second joint at second joint above arm section a connection piece is overlapped, and second closes
Two axis of directive wheel and two two axis of tensioning wheel at section above arm section a connection piece and two above two connector one of arm section
A three axis of tensioning wheel is parallel, and alternate arm section a connection piece and arm Duan Erlian of the same joint rotation are controlled at second joint
Directive wheel two and tensioning wheel two, three median planes installed on fitting one are in the same plane, the directive wheel one, two
It is freely rotated relative to the guide wheel shaft, the tensioning wheel one, two, three can freely turn relative to the tension wheel shaft
It is dynamic；The two connecting sleeve other end of arm section and two connector two of arm section are connected.
4. as claimed in claim 3 have mobile and rotation positioning joint single hole surgical instrument, which is characterized in that
The third, the four, the five, the six, the seven, the 8th joint executing agencies and second joint executing agency structure are basic
It is identical, wherein the directive wheel axis of third joint executing agency is overlapped with the rotation axis in third joint, the arm
There are two tensioning wheel five, two five axis of tensioning wheel and arm sections for the same side installation of section three connectors, one rope grooves on
Rope groove tangent line weight on vertical and described three connector one of two tensioning wheels five and arm section of rope groove axis on five connectors one
It closes, 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.
5. as described in claim 1 have mobile and rotation positioning joint single hole surgical instrument, which is characterized in that described
The joint executing agency of second, third, fourth, fifth, the six, the 7th and the 8th respectively corresponds driving second by wirerope and closes
Section, third joint, the 4th joint, the 5th joint, the 6th joint, the 7th joint and the rotation of the 8th joint.
6. as described in claim 1 have mobile and rotation positioning joint single hole surgical instrument, which is characterized in that described
The joint executing agency of second, third, fourth, fifth, the six, the 7th and the 8th final drive box in line wheel two sides pacify
Equipped with guide frame；The guide frame respectively includes guide wheel shaft, guide wheel group and sleeve, and the sleeve is sleeved on institute
On the guide wheel shaft stated, the directive wheel is sleeved on guide wheel shaft；The both ends of guide wheel shaft are fixed on base housing.
7. as described in claim 1 have mobile and rotation positioning joint single hole surgical instrument, which is characterized in that described the
Two, the casing of the joint executing agency of third, the four, the five, the six, the 7th and the 8th and respective both ends are correspondingly connected with part and kept
It is full of and connects and fixed by pin shaft.
8. as described in claim 1 have mobile and rotation positioning joint single hole surgical instrument, which is characterized in that described
There is wirerope in line wheel and transmission wire wheel axis in the joint executing agency of second, third, fourth, fifth, the six, the 7th and the 8th
Slot is used for winding wire ropes；Line wheel in the joint executing agency of the second, third, fourth, fifth, the six, the 7th and the 8th
With grooved hole on the rope groove on transmission wire wheel axis, steel cord ends are embedded in slot after knotting, for fixing steel cord ends；
The corresponding joint arm section connector rope groove of the joint executing agency of second, third, fourth, fifth, the six, the 7th and the 8th
Grooved hole, steel cord ends are embedded in slot after knotting, for fixing steel cord ends；To prevent wirerope from directive wheel and
Deviate from tensioning wheel, guide hole plate is installed in the position close to tensioning wheel, moves into wirerope along directive wheel and tensioning wheel tangent line
Or it is pierced by from the pilot hole of guide hole plate after laying out directive wheel and tensioning wheel to adjacent segment.
9. as described in claim 1 have mobile and rotation positioning joint single hole surgical instrument, which is characterized in that described
Second, third, fourth, fifth, the 6th joint executing agency is single-row in the final drive box is sequentially arranged；7th and
Eight joint executing agencies are arranged in parallel in the final drive box with the 6th joint executing agency.
10. as described in claim 1 have mobile and rotation positioning joint single hole surgical instrument, which is characterized in that described
The line wheel of the joint executing agency of second, third, fourth, fifth, the six, the 7th and the 8th be set in the transmission wire wheel axis
On, there are arc-shaped stay bolt hole, the line wheel and the transmission line wheel in the line wheel and the transmission wire wheel axis
It is connected with and fastens after adjusting relative rotation between axis；Described transmission wire wheel axis one end is fixed on the hand by bearing
On art instrument executing agency shell, the transmission wire wheel axis other end is fixed on the surgical instrument executing agency by bearing
On shell；One end and the interface clutch discs section of the transmission wire wheel axis are in " D " font, the transmission wire wheel axis
It is formed and is interference fitted with " D " shaped sections of the interface clutch discs, one end of the transmission wire wheel axis connects with described
Mouth clutch discs are circumferentially fixed by " D " shaped sections, and one end of the transmission wire wheel axis passes through with the interface clutch discs
Bolt axial restraint；The preceding driving steel of the joint executing agency of second, third, fourth, fifth, the six, the 7th and the 8th
One end of silk is fixed in the steel wire trough of corresponding line wheel, and the other end of preceding driving steel wire is fixed on respective corresponding joint
In ring like steel wire slot；It drives one end of steel wire to be fixed in the steel wire trough of corresponding transmission wire wheel axis afterwards, drives steel wire afterwards
The other end be fixed in the ring like steel wire slot of respective corresponding joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201820275015.2U CN209332128U (en) | 2018-02-26 | 2018-02-26 | A kind of single hole surgical instrument with movement and rotation positioning joint |
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| CN201820275015.2U CN209332128U (en) | 2018-02-26 | 2018-02-26 | A kind of single hole surgical instrument with movement and rotation positioning joint |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108113717A (en) * | 2018-02-26 | 2018-06-05 | 山东大学齐鲁医院 | A kind of surgical instrument with rotation positioning joint for single hole operating robot |
| CN114833813A (en) * | 2022-05-13 | 2022-08-02 | 上海交通大学 | General type dynamometry drive arrangement to super redundant arm |
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2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108113717A (en) * | 2018-02-26 | 2018-06-05 | 山东大学齐鲁医院 | A kind of surgical instrument with rotation positioning joint for single hole operating robot |
| CN114833813A (en) * | 2022-05-13 | 2022-08-02 | 上海交通大学 | General type dynamometry drive arrangement to super redundant arm |
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