CN210019644U - Needle inserting device of puncture robot based on double-parallelogram RCM mechanism - Google Patents
Needle inserting device of puncture robot based on double-parallelogram RCM mechanism Download PDFInfo
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- CN210019644U CN210019644U CN201822133847.3U CN201822133847U CN210019644U CN 210019644 U CN210019644 U CN 210019644U CN 201822133847 U CN201822133847 U CN 201822133847U CN 210019644 U CN210019644 U CN 210019644U
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Abstract
The utility model discloses a needle inserting device of puncture robot based on two parallelogram RCM mechanisms, a serial communication port, be in including two parallelogram RCM mechanisms and rotatable setting the needle inserting mechanism in two parallelogram RCM mechanisms, two parallelogram RCM mechanisms are used for the adjustment the needle inserting gesture of pjncture needle. The utility model adjusts the needle inserting posture of the puncture needle through the double parallelogram RCM mechanism, can ensure that the needle inserting point is fixed, the needle inserting angle of the puncture needle can be adjusted randomly, and the accurate puncture needle inserting is realized; the utility model can realize the rapid needle insertion of the puncture needle and reduce the pain of the human body by arranging the elastic needle component; then, the needle can be inserted stably and slowly through the driving component until reaching the focus. The utility model discloses simple structure, transmission efficiency is high, and convenient operation has fine application prospect.
Description
Technical Field
The utility model relates to the field of medical equipment, in particular to needle inserting device of puncture robot based on two parallelogram RCM mechanisms.
Background
Minimally invasive surgery is performed by using an elongated rod-like surgical tool that is inserted into the body through a tiny incision in the surface of the body. Compared with the traditional open surgery, it can reduce surgical incision and surgical scar, shorten recovery time, reduce bleeding amount and complications, etc.; it can be seen that minimally invasive surgery has incomparable advantages with open surgery, and is thus favored by patients and doctors, and minimally invasive techniques are currently used in a variety of clinical fields.
However, the current minimally invasive surgery is basically completed by experienced doctors, but in reality, the experienced doctors are limited, the duration of the puncture surgery process is long, and the energy of the doctors is limited, so that the popularization of the minimally invasive surgery is limited. Due to the advantages of minimally invasive surgery, and the difficulties in its operation, it is also desirable for physicians to have available aids to facilitate the performance and to be able to perform such procedures in a wider variety of fields. A puncture needle robot combining robot technology with conventional minimally invasive technology is generally recognized as a method for effectively solving the disadvantages of the conventional minimally invasive technology. The puncture needle robot generally comprises a robot arm and a needle inserting device arranged at the tail end of the robot arm, wherein the needle inserting device generally comprises an RCM mechanism and a puncture needle mechanism arranged on the RCM mechanism. If a portion or point of the mechanism is always through a fixed point (or constrained within a very small space) away from the mechanism itself during movement, and the point is not constrained by a physical hinge, then such a mechanism may be referred to as a "Remote Center of Motion" (RCM mechanism). The characteristics of the mechanism are exactly matched with the operating characteristics of minimally invasive surgery, and the mechanism has great success in minimally invasive surgery robots. The RCM mechanism utilizes the self-restraint of the structure to realize the minimally invasive surgery robot, does not introduce redundant freedom, and depends on a specially designed mechanism to ensure that one part of the robot always passes through a fixed point of a space in the motion process. The robot arm can move freely and is used for positioning a puncture point, the RCM mechanism is used for adjusting the puncture posture (puncture angle) of the puncture needle, and the puncture needle mechanism is used for finally realizing puncture so that the puncture needle reaches a focus point. However, the existing needle inserting device has the problems of complex structure, single needle inserting mode (lack of a quick needle inserting mode, strong pain feeling of puncture of a patient), inconvenience in control, low accuracy and convenience in adjusting the posture of the puncture needle, and the like, and the application requirement of the puncture needle robot is difficult to meet.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that to the not enough among the above-mentioned prior art, provide a puncture robot's needle inserting device based on two parallelogram RCM mechanisms.
In order to solve the technical problem, the utility model discloses a technical scheme is: a needle inserting device of a puncture robot based on a double-parallelogram RCM mechanism comprises the double-parallelogram RCM mechanism and a needle inserting mechanism which is rotatably arranged on the double-parallelogram RCM mechanism,
the needle inserting mechanism comprises a box body, a linear guide rail arranged in the box body along the length direction, a needle inserting sliding block arranged on the linear guide rail, a puncture needle of which the inner end is arranged on the needle inserting sliding block and the outer end penetrates out of the box body along the length direction, and a driving assembly for driving the needle inserting sliding block to slide on the linear guide rail;
the double-parallelogram RCM mechanism is used for adjusting the needle inserting posture of the puncture needle.
Preferably, the needle insertion slider comprises a lower slider arranged on the linear guide rail in a sliding manner, a sliding chute formed on the upper surface of the lower slider, an upper slider arranged in the sliding chute in a sliding manner, and a puncture needle fixing seat fixedly connected to the upper slider, and the inner end of the puncture needle is arranged on the puncture needle fixing seat; and a baffle is arranged at the side part of the puncture needle fixing seat.
Preferably, the needle inserting assembly is further arranged in the box body and comprises an electromagnet arranged on the side portion of the needle inserting sliding block and an electromagnet guide rod arranged on the electromagnet, and the electromagnet guide rod is vertically arranged on the side portion of the baffle and used for pushing the upper sliding block to slide in the sliding groove.
Preferably, both ends of the sliding groove are provided with limiting blocks for limiting the upper sliding block.
Preferably, the box body is provided with a puncture needle guide seat for the puncture needle to penetrate out.
Preferably, the driving assembly comprises a needle inserting motor, a worm and gear box in driving connection with an output shaft of the needle inserting motor, a needle inserting driving wheel in driving connection with an output shaft of the worm and gear box, a needle inserting driven wheel arranged on the opposite side of the driving wheel along the length direction of the box body, and a needle inserting synchronous belt arranged between the needle inserting driving wheel and the needle inserting driven wheel, and the lower sliding block is connected with the needle inserting synchronous belt through a pressing piece.
Preferably, the double-parallelogram RCM mechanism comprises an output rod, a rotating shaft arranged at one end of the output rod, a first transmission rod rotatably connected with the other end of the output rod, and a second transmission rod rotatably connected with the other end of the first transmission rod, wherein the other end of the second transmission rod is rotatably connected with the needle inserting mechanism.
Preferably, the output rod comprises an installation shell, a first motor arranged in the installation shell, a first transmission box with one end in driving connection with the output end of the first motor and the other end in driving connection with the rotating shaft, a second motor arranged in the installation shell and a second transmission box in driving connection with the output end of the second motor.
Preferably, the first transmission rod comprises a first shell, a first synchronous pulley arranged at one end in the first shell and in driving connection with the output shaft of the second transmission box, a second synchronous pulley arranged at the other end in the shell, and a first synchronous belt arranged between the first synchronous pulley and the second synchronous pulley;
the second transfer line includes the second casing, sets up one end in the second casing and with third synchronous pulley, set up in the fourth synchronous pulley of the other end in the casing and setting are in second hold-in range between third synchronous pulley and the fourth synchronous pulley, the fourth synchronous pulley with the box body bottom is connected, in order to drive the box body rotates.
The utility model has the advantages that: the utility model discloses a needle inserting device of a puncture robot based on a double-parallelogram RCM mechanism, which adjusts the needle inserting posture of a puncture needle through the double-parallelogram RCM mechanism, can ensure that the needle inserting point is fixed in position, and the needle inserting angle of the puncture needle can be adjusted arbitrarily, thereby realizing accurate puncture needle inserting; the utility model can realize the rapid needle insertion of the puncture needle and reduce the pain of the human body by arranging the elastic needle component; then, the needle can be inserted stably and slowly through the driving component until reaching the focus. The utility model discloses simple structure, transmission efficiency is high, and convenient operation has fine application prospect.
Drawings
Fig. 1 is a schematic structural view of a needle inserting device of a puncture robot based on a double parallelogram RCM mechanism of the present invention;
FIG. 2 is a schematic view of the internal structure of the needle inserting mechanism of the present invention;
fig. 3 is a schematic view of a part of the internal structure of the puncturing robot based on the double parallelogram RCM mechanism of the present invention;
FIG. 4 is an exploded view of the needle insertion mechanism, the first transmission rod and the second transmission rod of the present invention;
fig. 5 is a schematic sectional view of the output rod of the present invention;
fig. 6 is a schematic structural view of the lower slider of the present invention;
fig. 7 is a schematic structural view of the needle insertion synchronous belt and the pressing member of the present invention.
Description of reference numerals:
1, a box body; 2-linear guide rail; 3, inserting needle slide block; 4, puncture needle; 5-a drive assembly; 6-a bullet needle assembly; 7-double parallelogram RCM mechanism; 10-puncture needle guide seat; 30-lower slide block; 31-a chute; 32, an upper sliding block; 33-puncture needle fixing seat; 34-a baffle plate; 35-a limiting block; 50-needle insertion motor; 51-worm gear box; 52-needle insertion driving wheel; 53-needle insertion driven wheel; 54-needle insertion synchronous belt; 55, a pressing piece; 60-an electromagnet; 61-electromagnet guide rod; 70-output rod; 71-a rotating shaft; 72 — a first transfer lever; 73-a second transmission rod; 100-needle insertion mechanism; 700-installing the housing; 701 — a first motor; 702 — a first gear box; 703 — a second motor; 704 — a second gear box; 720-a first housing; 721 — a first timing pulley; 722 — a second timing pulley; 723 — first synchronous belt; 7- (c) -; 730 — a second housing; 731-third synchronous pulley; 732-a fourth timing pulley; 733 — second synchronous belt.
Detailed Description
The present invention is further described in detail below with reference to examples so that those skilled in the art can implement the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
If a portion or point of the mechanism is always through a fixed point (or constrained within a very small space) away from the mechanism itself during movement, and the point is not constrained by a physical hinge, then such a mechanism may be referred to as a "Remote Center of Motion" (RCM mechanism). The characteristics of the mechanism are exactly matched with the operating characteristics of minimally invasive surgery, and the mechanism has great success in minimally invasive surgery robots. The RCM mechanism utilizes the self-restraint of the structure to realize the minimally invasive surgery robot, does not introduce redundant freedom, and depends on a specially designed mechanism to ensure that one part of the robot always passes through a fixed point of a space in the motion process. As shown in fig. 1, the needle inserting mechanism 100 of the present invention is installed on the double-parallelogram RCM mechanism 7, and the needle inserting posture of the puncture needle 4 is adjusted by the double-parallelogram RCM mechanism 7, i.e. the needle inserting point (the tip of the puncture needle 4) is fixed in position, and the needle inserting angle of the puncture needle 4 can be adjusted arbitrarily (the puncture needle 4 can rotate around the needle inserting point). After the posture adjustment of the double-parallelogram RCM mechanism 7 is completed, the needle inserting mechanism 100 is used for puncture needle insertion to reach a focus point. During the use, the utility model discloses install on piercing robot's arm, remove through the arm, make pjncture needle 4 move to the needle point of inserting on, then adjust the needle gesture of inserting through two parallelogram RCM mechanisms 7 again, accomplish the needle of inserting by needle mechanism 100 at last.
As shown in fig. 1 to 7, the needle inserting device of the puncture robot based on the double-parallelogram RCM mechanism 7 of the present embodiment includes the double-parallelogram RCM mechanism 7 and a needle inserting mechanism 100 rotatably disposed on the double-parallelogram RCM mechanism 7, wherein the needle inserting mechanism 100 includes a box body 1, a linear guide rail 2 disposed in the box body 1 along the length direction, a needle inserting slider 3 disposed on the linear guide rail 2, a puncture needle 4 whose inner end is disposed on the needle inserting slider 3 and whose outer end penetrates out of the box body 1 along the length direction, and a driving assembly 5 for driving the needle inserting slider 3 to slide on the linear guide rail 2; the double parallelogram RCM mechanism 7 is used for adjusting the needle inserting posture of the puncture needle 4. The needle inserting slide block 3 comprises a lower slide block 30 arranged on the linear guide rail 2 in a sliding way, a sliding groove 31 arranged on the upper surface of the lower slide block 30, an upper slide block 32 arranged in the sliding groove 31 in a sliding way and a puncture needle fixing seat 33 fixedly connected on the upper slide block 32, and the inner end of the puncture needle 4 is arranged on the puncture needle fixing seat 33; a baffle 34 is arranged at the side part of the puncture needle fixing seat 33.
Referring to fig. 2, the box body 1 is further provided with a needle ejecting assembly 6, the needle ejecting assembly 6 includes an electromagnet 60 disposed on a side portion of the needle inserting slider 3 and an electromagnet guide rod 61 disposed on the electromagnet 60, and the electromagnet guide rod 61 is vertically disposed on a side portion of the baffle 34 and used for pushing the upper slider 32 to slide in the chute 31. Both ends of the sliding groove 31 are provided with a limiting block 35 for limiting the upper sliding block 32. The box body 1 is provided with a puncture needle guide seat 10 for the puncture needle 4 to penetrate out.
Referring to fig. 2, the driving assembly 5 includes a needle insertion motor 50, a worm and gear box 51 drivingly connected to an output shaft of the needle insertion motor 50, a needle insertion driving wheel 52 drivingly connected to an output shaft of the worm and gear box 51, a needle insertion driven wheel 53 disposed at an opposite side of the driving wheel along a length direction of the case 1, and a needle insertion synchronous belt 54 disposed between the needle insertion driving wheel 52 and the needle insertion driven wheel 53, and the lower slider 30 is connected to the needle insertion synchronous belt 54 through a pressing member 55.
The needle insertion of the puncture needle 4 is divided into two steps, and the bullet needle assembly 6 is adopted to carry out rapid needle insertion at the initial needle insertion stage of the puncture needle 4, so that the puncture needle 4 rapidly pierces the skin, and the pain of the human body is relieved; then the needle is inserted steadily and slowly until reaching the focus. Specifically, referring to fig. 2, in the initial stage of needle insertion, the electromagnet 60 is powered on to move, the electromagnet guide rod 61 on the electromagnet 60 pops up to the left, the baffle 34 on the side of the puncture needle fixing seat 33 is knocked, the puncture needle fixing seat 33 and the upper slide block 32 slide to the left in the sliding groove 31, so that the left end of the puncture needle 4 penetrating out of the box body 1 moves to the left quickly, and the quick needle insertion is realized. The limiting block 35 on the left side of the sliding chute 31 limits the limit position of the leftward movement of the upper sliding block 32. Then, the needle insertion motor 50 operates to drive the needle insertion driving wheel 52 to rotate, the needle insertion synchronous belt 54 drives the lower slider 30 to move leftwards, under the limiting action of the limiting block 35 on the right side of the sliding groove 31, the upper slider 32 and the limiting block 35 on the right side close to the heel and move leftwards along with the lower slider 30, so that the puncture needle 4 stably moves rightwards at a slow speed, and the needle is inserted slowly until a focus point. After the puncture is finished, the lower sliding block 30 is driven by the needle inserting synchronous belt 54 to move rightwards, and the puncture needle 4 is reset.
In one embodiment, referring to fig. 1 and 3-5, the double parallelogram RCM mechanism 7 comprises an output rod 70, a rotating shaft 71 disposed at one end of the output rod 70, a first driving rod 72 rotatably connected to the other end of the output rod 70, and a second driving rod 73 rotatably connected to the other end of the first driving rod 72, wherein the other end of the second driving rod 73 is rotatably connected to the needle inserting mechanism 100.
The output rod 70 includes a mounting housing 700, a first motor 701 disposed in the mounting housing 700, a first transmission case 702 having one end drivingly connected to an output end of the first motor 701 and the other end drivingly connected to the rotating shaft 71, a second motor 703 disposed in the mounting housing 700, and a second transmission case 704 drivingly connected to an output end of the second motor 703.
The first transmission rod 72 comprises a first housing 720, a first synchronous belt 723 wheel 721 arranged at one end in the first housing 720 and in driving connection with an output shaft of the second transmission case 704, a second synchronous belt 733 wheel 722 arranged at the other end in the housing, and a first synchronous belt 723 arranged between the first synchronous belt 723 wheel 721 and the second synchronous belt 733 wheel 722;
the second transmission rod 73 includes a second housing 730, a third synchronous pulley 731 disposed at one end of the second housing 730 and drivingly connected to the second synchronous belt 733 wheel 722, a fourth synchronous pulley 732 disposed at the other end of the housing, and a second synchronous belt 733 disposed between the third synchronous pulley 731 and the fourth synchronous pulley 732, wherein the fourth synchronous pulley 732 is connected to the bottom of the cartridge 1 to drive the cartridge 1 to rotate. In one embodiment, the bottom of the box 1 is provided with a shaft drivingly connected to the fourth timing pulley 732.
The working principle of the double-parallelogram RCM mechanism 7 is as follows: the double-parallelogram RCM mechanism 7 is rotatably connected to a mechanical arm of the puncture robot through a rotating shaft 71, a first motor 701 drives the rotating shaft 71 to rotate (rotate around the axis direction of the output rod 70) through a first transmission case 702, and the rotating shaft 71 realizes the rotation of the whole double-parallelogram RCM mechanism 7 and the needle inserting mechanism 100 around the axis; the second motor 703 drives the first synchronous belt 723 wheel 721 to rotate through the second transmission box 704, so that the first transmission rod 72 rotates around the axis of the first synchronous belt 723 wheel 721; the first synchronous belt 723 wheel 721 drives the second synchronous belt 733 wheel 722 to rotate through the first synchronous belt 723, the second synchronous belt 733 wheel 722 drives the third synchronous belt wheel 731 connected with the second synchronous belt to rotate, and the second transmission rod 73 rotates around the axis of the third synchronous belt wheel 731; the third synchronous pulley 731 drives the fourth synchronous pulley 732 to rotate through the second synchronous belt 733, and the fourth synchronous pulley 732 drives the box body 1 (and the whole needle inserting mechanism 100) connected with the fourth synchronous pulley 732 through a rotating shaft to rotate around the axis driven by the fourth synchronous pulley 732, so that the rotating direction of the needle inserting mechanism 100 is the same as that of the first transmission rod 72. Finally, the position of the tip of the puncture needle 4 of the needle inserting mechanism 100 can be kept fixed, and the needle inserting angle can be adjusted at will.
While the embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields where the invention is suitable, and further modifications may readily be made by those skilled in the art, and the invention is therefore not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.
Claims (9)
1. A needle inserting device of a puncture robot based on a double-parallelogram RCM mechanism is characterized by comprising the double-parallelogram RCM mechanism and a needle inserting mechanism which is rotatably arranged on the double-parallelogram RCM mechanism,
the needle inserting mechanism comprises a box body, a linear guide rail arranged in the box body along the length direction, a needle inserting sliding block arranged on the linear guide rail, a puncture needle of which the inner end is arranged on the needle inserting sliding block and the outer end penetrates out of the box body along the length direction, and a driving assembly for driving the needle inserting sliding block to slide on the linear guide rail;
the double-parallelogram RCM mechanism is used for adjusting the needle inserting posture of the puncture needle.
2. The needle inserting device of the puncture robot based on the double-parallelogram RCM mechanism according to claim 1, wherein the needle inserting slider comprises a lower slider slidably arranged on the linear guide rail, a chute arranged on the upper surface of the lower slider, an upper slider slidably arranged in the chute, and a puncture needle fixing seat fixedly connected to the upper slider, and the inner end of the puncture needle is arranged on the puncture needle fixing seat; and a baffle is arranged at the side part of the puncture needle fixing seat.
3. The needle inserting device of the double-parallelogram RCM mechanism-based puncture robot as claimed in claim 2, wherein an elastic needle assembly is further arranged in the box body, the elastic needle assembly comprises an electromagnet arranged on the side of the needle inserting slide block and an electromagnet guide rod arranged on the electromagnet, and the electromagnet guide rod is vertically arranged on the side of the baffle plate and used for pushing the upper slide block to slide in the sliding groove.
4. The needle inserting device of the puncture robot based on the double-parallelogram RCM mechanism according to claim 3, wherein two ends of the sliding groove are respectively provided with a limiting block for limiting the upper sliding block.
5. The needle inserting device of the puncture robot based on the double-parallelogram RCM mechanism according to claim 1, wherein a puncture needle guide seat for the puncture needle to penetrate out is arranged on the box body.
6. The needle inserting device of the puncture robot based on the double-parallelogram RCM mechanism as claimed in claim 2, wherein the driving assembly comprises a needle inserting motor, a worm gear box in driving connection with an output shaft of the needle inserting motor, a needle inserting driving wheel in driving connection with an output shaft of the worm gear box, a needle inserting driven wheel arranged at the opposite side of the driving wheel along the length direction of the box body, and a needle inserting synchronous belt arranged between the needle inserting driving wheel and the needle inserting driven wheel, and the lower sliding block is connected with the needle inserting synchronous belt through a pressing piece.
7. The needle inserting device of the double-parallelogram RCM mechanism-based puncture robot according to claim 1, wherein the double-parallelogram RCM mechanism comprises an output rod, a rotating shaft arranged at one end of the output rod, a first transmission rod rotatably connected with the other end of the output rod, and a second transmission rod rotatably connected with the other end of the first transmission rod, and the other end of the second transmission rod is rotatably connected with the needle inserting mechanism.
8. The needle inserting device of the double-parallelogram RCM mechanism-based puncture robot as claimed in claim 7, wherein the output rod comprises a mounting housing, a first motor arranged in the mounting housing, a first transmission case with one end in driving connection with the output end of the first motor and the other end in driving connection with the rotating shaft, a second motor arranged in the mounting housing, and a second transmission case in driving connection with the output end of the second motor.
9. The needle inserting device of the double-parallelogram RCM mechanism-based puncture robot according to claim 8, wherein the first transmission rod comprises a first housing, a first synchronous pulley arranged at one end of the first housing and in driving connection with the output shaft of the second transmission box, a second synchronous pulley arranged at the other end of the first housing, and a first synchronous belt arranged between the first synchronous pulley and the second synchronous pulley;
the second transfer line includes the second casing, sets up one end in the second casing and with third synchronous pulley, set up in the fourth synchronous pulley of the other end in the casing and setting are in second hold-in range between third synchronous pulley and the fourth synchronous pulley, the fourth synchronous pulley with the box body bottom is connected, in order to drive the box body rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822133847.3U CN210019644U (en) | 2018-12-18 | 2018-12-18 | Needle inserting device of puncture robot based on double-parallelogram RCM mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822133847.3U CN210019644U (en) | 2018-12-18 | 2018-12-18 | Needle inserting device of puncture robot based on double-parallelogram RCM mechanism |
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| CN210019644U true CN210019644U (en) | 2020-02-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822133847.3U Active CN210019644U (en) | 2018-12-18 | 2018-12-18 | Needle inserting device of puncture robot based on double-parallelogram RCM mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115317094A (en) * | 2022-07-29 | 2022-11-11 | 武汉大学 | RCM puncture device and puncture teaching method |
| WO2023079521A1 (en) * | 2021-11-08 | 2023-05-11 | Covidien Lp | Linear transmission mechanism for actuating a prismatic joint of a surgical robot |
-
2018
- 2018-12-18 CN CN201822133847.3U patent/CN210019644U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023079521A1 (en) * | 2021-11-08 | 2023-05-11 | Covidien Lp | Linear transmission mechanism for actuating a prismatic joint of a surgical robot |
| CN115317094A (en) * | 2022-07-29 | 2022-11-11 | 武汉大学 | RCM puncture device and puncture teaching method |
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