CN213499189U - Continuum mechanism of coupling kinematic chain and surgical tool - Google Patents
Continuum mechanism of coupling kinematic chain and surgical tool Download PDFInfo
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- CN213499189U CN213499189U CN202021500320.0U CN202021500320U CN213499189U CN 213499189 U CN213499189 U CN 213499189U CN 202021500320 U CN202021500320 U CN 202021500320U CN 213499189 U CN213499189 U CN 213499189U
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Abstract
The utility model relates to the field of medical equipment, a continuum mechanism and operation instrument of coupling motion chain is disclosed. It includes: the continuous body mechanism comprises a base plate, a stop plate and a structural bone, wherein the structural bone is fixedly connected with the stop plate and penetrates through the base plate. The kinematic chain is connected with the stop disc and the base disc and is provided with at least two rotating pairs, the rotating axes of the rotating pairs are perpendicular to each other, and the rotating axes of the rotating pairs are perpendicular to the extending direction of the continuum mechanism. The surgical tool comprises the continuum mechanism described above. The utility model provides a continuum mechanism and operation instrument of coupling motion chain when having nimble bending capability, has improved continuum mechanism around axial antitorque ability, has promoted load capacity and motion accuracy nature, has reduced the operation degree of difficulty, has prolonged operation instrument's life.
Description
Technical Field
The utility model relates to the field of medical equipment, especially, relate to a continuum mechanism and operation instrument of coupling motion chain.
Background
Traditional rigidity surgical instruments mostly are long and thin rod-shaped structure, and its end is provided with the operation executor, and rod-shaped structure establishes ties through many poles and articulates, adopts wire rope pulling force drive, makes surgical instruments realize the turn in articulated joint department, owing to there is complicated hand eye concurrent operation demand, and traditional rigidity surgical instruments have the flexibility ratio limited, working range shortcoming such as less, has restricted its popularization and application. With the research and development of surgical robot systems, flexible mechanical arms are used to replace traditional rigid surgical instruments, so that the degree of freedom and flexibility of the surgical instruments are greatly improved, and the flexibility of instrument movement is improved.
The existing flexible mechanical arm is coupled with a driving mechanism through a driving wire, so that the flexible mechanical arm generates corresponding bending deformation, and therefore, the expected movement is generated. However, the existing flexible mechanical arm generally has the problems of insufficient rigidity and low load capacity. Because the flexible mechanical arm has elasticity and is extremely easy to bend, the torsion resistance of the flexible mechanical arm around the axial direction is poor. When the flexible mechanical arm is subjected to external load, torsion around the axial direction is easily generated, so that the flexible mechanical arm loses the movement accuracy, and meanwhile, the flexible mechanical arm is easily bent or damaged due to the torsional movement of the flexible mechanical arm, so that the service life of the surgical instrument is shortened.
SUMMERY OF THE UTILITY MODEL
Based on above problem, the utility model aims to provide a continuum mechanism and operation instrument of coupling motion chain improves antitorque performance, increase of service life.
In order to achieve the purpose, the utility model adopts the following technical proposal: the continuum mechanism of the coupled kinematic chain comprises: a continuum mechanism and a kinematic chain;
the continuum mechanism comprises a basal disc, a stopping disc and a structural bone;
the base disc and the stop disc are arranged at intervals;
the far end of the structural bone is fixedly connected with the stopping disc, and the near end of the structural bone penetrates through the basal disc;
the far end and the near end of the kinematic chain are respectively connected with the stop disc and the base disc;
the kinematic chain comprises at least two rotation pairs with rotation axes perpendicular to each other, and the rotation axis of each rotation pair is perpendicular to the extending direction of the continuum mechanism;
with the above configuration, the kinematic chain itself does not have the ability to rotate about the axis direction, and therefore the ability to restrict the rotation of the continuum mechanism about the axis is limited, and the bending motion of the continuum is not affected.
As a preferable aspect of the continuum mechanism of the present invention, the kinematic chain further includes at least one sliding pair, and the sliding pair is configured to be movable along an extending direction of the continuum mechanism;
a sliding pair is provided, thereby further increasing the degree of freedom of the kinematic chain in bending movements.
As a preferable aspect of the continuum mechanism of the present invention, the kinematic chain includes: the first rotating pair, the second rotating pair, the third rotating pair and the fourth rotating pair are connected in sequence, the near end of the first rotating pair is connected with the base plate, the far end of the fourth rotating pair is connected with the stop plate, the rotating axes of the first rotating pair and the second rotating pair are perpendicular to each other, and the rotating axes of the third rotating pair and the fourth rotating pair are perpendicular to each other;
a plurality of rotating pairs are arranged, so that the degree of freedom of the kinematic chain during bending motion is increased, and the bending motion of the continuum mechanism is prevented from being influenced by the kinematic chain.
As a preferable aspect of the continuum mechanism of the present invention, the kinematic chain includes: the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod;
the first connecting rod near end is fixedly connected with the base plate, the first connecting rod far end is hinged with the second connecting rod near end through a rotating shaft to form the first rotating pair, the second connecting rod far end is hinged with the third connecting rod near end through a rotating shaft to form the second rotating pair, and the rotating axes of the first rotating pair and the second rotating pair are perpendicular to each other;
the third connecting rod far end is connected with the fourth connecting rod near end, the fourth connecting rod far end is hinged with the fifth connecting rod near end through a rotating shaft to form the third rotating pair, the fifth connecting rod far end is hinged with the sixth connecting rod near end through a rotating shaft to form the fourth rotating pair, the rotating axes of the third rotating pair and the fourth rotating pair are vertical to each other, and the sixth connecting rod far end is fixedly connected with the stop disc.
As a preferable aspect of the continuum mechanism of the present invention, one of the third link distal end and the fourth link proximal end is provided with a first guiding hole, and the other of the third link distal end and the fourth link proximal end is provided with a first sliding rod, the first sliding rod is slidably disposed in the first guiding hole, so that the third link distal end and the fourth link proximal end form a first sliding pair.
As a preferable aspect of the continuum mechanism of the present invention, the kinematic chain includes: a first gimbal and a second gimbal connected to each other;
the near end of the first universal joint is fixedly connected with the base plate, and the far end of the second universal joint is fixedly connected with the stop plate.
As a preferable aspect of the continuum mechanism of the present invention, one of the distal end of the first gimbal and the proximal end of the second gimbal is provided with a second guide hole, the other of the distal end of the first gimbal and the proximal end of the second gimbal is provided with a second slide bar, and the second slide bar is slidably disposed in the second guide hole, so that the distal end of the first gimbal and the proximal end of the second gimbal form a second sliding pair.
As a preferable embodiment of the continuum mechanism of the present invention, the structural bone is provided with a plurality of bones, and a proximal end of each of the structural bones is configured to be connectable to a driving mechanism;
or a plurality of said structural bones are configured to be connectable to a drive mechanism.
As a preferable aspect of the continuum mechanism of the present invention, the structural bone is made of an elastic material; preferably, the structural bone is prepared from nitinol wire.
As a preferable embodiment of the continuum mechanism of the present invention, the continuum mechanism of the coupled kinematic chain further comprises at least one holding disc disposed between the stopping disc and the base disc;
the far end of the structural bone is fixedly connected with the stop disc, the near end of the structural bone sequentially penetrates through the retaining disc and the base disc, and the structural bone is arranged along the circumferential directions of the base disc, the retaining disc and the stop disc respectively;
the retaining disc is arranged so that the structural bone can still keep a parallel state in the process of bending deformation, and the structural bone is prevented from being unstable in bending movement.
As a preferable scheme of the continuum mechanism of the present invention, the continuum mechanism of the coupled kinematic chain further comprises a support structure disposed at the periphery of the continuum mechanism;
the supporting structure comprises a spiral steel belt and a metal woven net, the spiral steel belt is attached to the peripheral surface of the continuous body mechanism, and the metal woven net is attached to the peripheral surface of the spiral steel belt;
the bending holding performance of the continuum mechanism is thereby maintained by the support structure.
As a preferable embodiment of the continuum mechanism of the present invention, an elastic spacer is installed between two adjacent discs of the continuum mechanism.
A surgical tool comprising an end effector and a continuum mechanism as described above coupled to a kinematic chain, the end effector being fixedly connected to a stop plate at a distal end of the continuum mechanism.
The utility model has the advantages that:
the utility model provides a continuum mechanism and operation instrument of coupling motion chain, through set up the motion chain between the continuum mechanism, because the motion chain has two at least rotation axis mutually perpendicular revolute pairs, the rotation axis of each revolute pair is perpendicular with the extending direction of continuum mechanism, thereby make the motion chain not have the rotation ability round the axis direction, and can produce the bending of bending motion in order to comply with the continuum mechanism, and then avoid the continuum mechanism to produce the torsion around the axis when bending motion, when making the continuum mechanism have nimble bending ability, improve the continuum mechanism around axial antitorque ability, and then promote load capacity and motion accuracy nature, reduce the operation degree of difficulty, prolong operation instrument's life.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a continuum mechanism provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a kinematic chain according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a kinematic chain according to another embodiment of the present invention.
In the figure:
1-a basal disc; 2-stopping the disc; 3-structural bone; 4-a kinematic chain; 5-a holding tray;
a-a first revolute pair; b-a second revolute pair; c-a first sliding pair; d-a third revolute pair; e-a fourth revolute pair; f-a second sliding pair;
41-a first link; 42-a second link; 43-a third link; 44-a fourth link; 45-fifth link; 46-a sixth link; 47-first universal joint; 48-a second gimbal;
441-a first sliding bar; 481 — second sliding bar.
Detailed Description
In order to make the technical problems, technical solutions and technical effects achieved by the present invention more clear, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, when referring to the "distal or distal end", the term refers to the side or end that is relatively far from the operator. When referring to "proximal or proximal end," the term refers to the side or end that is relatively close to the operator.
As shown in fig. 1 to 3, the present embodiment provides a continuum mechanism of a coupled kinematic chain, including: a continuum mechanism and kinematic chains 4;
the continuum mechanism comprises a basal disc 1, a stopping disc 2 and a structural bone 3. The base disc 1 and the stop disc 2 are arranged at intervals. The far end of the structural bone 3 is fixedly connected with the disc stop 2, and the near end of the structural bone 3 penetrates through the basal disc 1. The far end and the near end of the kinematic chain 4 are respectively connected with the stop disc 2 and the base disc 1, and the kinematic chain 4 comprises at least two rotating pairs with mutually perpendicular rotating axes, and the rotating axes of each rotating pair are perpendicular to the extending direction of the continuum mechanism.
Specifically, the continuum mechanism drives the kinematic chain 4 to bend during bending motion, the bending tracks of the continuum mechanism and the kinematic chain 4 are approximately arc-shaped, and the extending direction of the continuum mechanism refers to the tangential direction of the bending part of the continuum mechanism and may also refer to the tangential direction of the kinematic chain 4 at the bending part. The kinematic chain 4 adopts the above configuration, so that the kinematic chain 4 itself does not have the rotational capability about the axial direction, thereby limiting the rotational capability of the constraining continuum mechanism about the axis. Meanwhile, the kinematic chain 4 can follow the bending of the continuum mechanism to generate the bending in space conforming to the continuum mechanism. Through set up the kinematic chain 4 between ending dish 2 and basal disc 1, when making the continuum mechanism have nimble bending capability, can also improve the antitorque performance of continuum mechanism around the axial, and then promote load capacity and motion accuracy nature, reduce the operation degree of difficulty, prolong the life of operation instrument.
In the present embodiment, the kinematic chain 4 further preferably comprises at least one kinematic pair arranged so as to be able to move along the extension direction of the continuum structure. Specifically, when the continuum mechanism is not bent, the extending direction of the continuum mechanism is the direction along the axis, that is, the vertical direction, and more preferably, a plurality of moving pairs are provided, each of the moving pairs being provided to be movable in the extending direction of the continuum mechanism. By arranging more moving pairs, the redundant degree of freedom of the kinematic chain 4 is increased, and the movement of the kinematic chain 4 is more flexible.
In the present embodiment, the stopper 2 and the base 1 may be annular, rectangular, or the like, and preferably are annular. The distal end of the structural bone 3 is fixedly attached to the stop plate 13, and the proximal end of the structural bone 3 extends through the base plate 1 and is configured to be connected to a drive mechanism. The base plate 1 serves as a fixed end and the stop plate 2 serves as a movable end for carrying a load (e.g., an end effector).
Preferably, the structural bones 3 are provided with a plurality of structural bones 3, the plurality of structural bones 3 are distributed on the stopping disc 2 and the base disc 1 at intervals along the circumferential direction, each structural bone 3 is arranged along the direction parallel to the axis of the motion chain 4, each structural bone 3 is configured to be connected with one driving mechanism or a plurality of structural bones 3 are configured to be connected with one driving mechanism. It can be understood that, when a certain driving mechanism applies active driving force to push a structural bone 3, and other driving mechanisms do not apply active driving force, because the base plate 1 is a fixed end, the pushed structural bone 3 drives the kinematic chain 4 to generate bending deformation under the limitation of the base plate 1 through the stop plate 2, and other structural bones 3 follow up, the whole continuum mechanism completes the preset bending action of deviating from the pushed structural bone 3 under the action of the pushed structural bone 3, and the stop plate 2 serves as a moving end to reach the preset position. When a plurality of driving mechanisms simultaneously apply active driving force, the plurality of driving mechanisms cooperatively push and pull the plurality of structural bones 3, and the whole continuum mechanism generates corresponding bending deformation according to different displacement amounts generated by pushing or pulling, so that the expected movement of a moving end load (such as an end effector) is realized.
More preferably, after penetrating through the base plate 1, the plurality of structural bones 3 are connected with another fixing plate, and the fixing plate is driven to turn over by a driving mechanism, so that the plurality of structural bones 3 can be bent in any direction, and the stop plate 2 serves as a moving end and reaches a preset position.
In practical application, the far end and the near end of the structural bone 3 are distributed along the circumference of the stopping disc 2 and the basal disc 1. For example, it can be distributed circumferentially so that the structural bone 3 encloses a receiving space in which the kinematic chain 4 is located.
To ensure the overall compliance of the continuum structure, the structural bone 3 is optionally made of a resilient material, preferably the structural bone 3 is made of nitinol wire.
In a particular embodiment, the kinematic chain 4 comprises: the first revolute pair a, the second revolute pair b, the third revolute pair d and the fourth revolute pair e are connected in sequence. The proximal end of the first revolute pair a is connected with the base plate 1, the distal end of the fourth revolute pair e is connected with the stop plate 2, the rotation axes of the first revolute pair a and the second revolute pair b are perpendicular to each other, and the rotation axes of the third revolute pair d and the fourth revolute pair e are perpendicular to each other. It is understood that the rotation axes being perpendicular to each other may refer to the perpendicular of the two rotation axes in space or at the junction. Illustratively, the rotation axes of the first rotating pair a, the second rotating pair b, the third rotating pair d and the fourth rotating pair e are all perpendicular to the extending direction of the continuum mechanism. In other embodiments, the first revolute pair a and the second revolute pair b may be arranged such that the rotation axis of one of them coincides with the extending direction of the continuum mechanism, and the third revolute pair d and the fourth revolute pair e may be arranged such that the rotation axis of one of them coincides with the extending direction of the continuum mechanism. With the above arrangement, the kinematics chain 4 is prevented from twisting about the axis during bending movements. A plurality of rotating pairs are arranged, so that the degree of freedom of the kinematic chain 4 during bending motion is increased, and the influence of the kinematic chain 4 on the bending motion of the continuum mechanism is avoided.
Specifically, the kinematic chain 4 comprises: a first link 41, a second link 42, a third link 43, a fourth link 44, a fifth link 45, and a sixth link 46. The proximal end of the first connecting rod 41 is fixedly connected with the base plate 1, the distal end of the first connecting rod 41 is hinged with the proximal end of the second connecting rod 42 through a rotating shaft to form a first rotating pair a, the distal end of the second connecting rod 42 is hinged with the proximal end of the third connecting rod 43 through a rotating shaft to form a second rotating pair b, and the rotating axes of the first rotating pair a and the second rotating pair b are perpendicular to each other. One of the distal end of the third link 43 and the proximal end of the fourth link 44 is provided with a first guide hole, and the other of the distal end of the third link 43 and the proximal end of the fourth link 44 is provided with a first slide rod 441, and the first slide rod 441 is slidably disposed in the first guide hole, so that the distal end of the third link 43 and the proximal end of the fourth link 44 form a first moving pair c. The far end of the fourth connecting rod 4 is hinged with the near end of the fifth connecting rod 45 through a rotating shaft to form a third rotating pair d, the far end of the fifth connecting rod 45 is hinged with the near end of the sixth connecting rod 46 through a rotating shaft to form a fourth rotating pair e, the rotating axes of the third rotating pair d and the fourth rotating pair e are perpendicular to each other, and the far end of the sixth connecting rod 46 is fixedly connected with the stop disc 2. Illustratively, the third link 43 is provided with a first guide hole at the distal end, the fourth link 44 is provided with a first sliding rod 441 at the proximal end, and the first sliding rod 441 is fitted into the first guide hole, so that the first sliding rod 441 is slidably disposed in the first guide hole to form a first sliding pair c. It is understood that the first guide hole may be provided at the proximal end of the fourth link 44 and the first sliding rod 441 may be provided at the distal end of the third link 43, and may also form the first sliding pair c. And a moving pair is arranged, so that the degree of freedom of the kinematic chain 4 during bending motion is further increased, and the influence of the kinematic chain 4 on the bending motion of the continuum mechanism is avoided.
In a further embodiment, the kinematic chain 4 comprises: a first universal joint 47, a second sliding pair f and a second universal joint 48 which are connected in sequence. The proximal end of the first universal joint 47 is fixedly connected with the base plate 1, and the distal end of the second universal joint 48 is fixedly connected with the stop plate 2. One of the distal end of the first gimbal 47 and the proximal end of the second gimbal 48 is provided with a second guide hole, the other of the distal end of the first gimbal 47 and the proximal end of the second gimbal 48 is provided with a second slide bar 481, and the second slide bar 481 is slidably disposed in the second guide hole so that the distal end of the first gimbal 47 and the proximal end of the second gimbal 48 form a second sliding pair f. Specifically, the distal end of the first universal joint 47 is provided with a second guide hole, the proximal end of the second universal joint 48 is provided with a second sliding rod 481, and the second sliding rod 481 is matched with the second guide hole, so that the second sliding rod 481 is slidably arranged in the second guide hole to form a second sliding pair f. It should be understood that the first guide hole may be provided at the proximal end of the second gimbal 48, and the second sliding bar 481 may be provided at the distal end of the first gimbal 47, and may also form the second sliding pair f.
In this embodiment, at least one retaining disc 5 is provided between the retaining disc 2 and the base disc 1, the distal end of the structural bone 3 is fixedly connected to the retaining disc 2, and the proximal end of the structural bone 3 penetrates the retaining disc 5 and the base disc 1 in this order. Preferably, the number of the retaining discs 5 is a plurality, and the retaining discs 5 are respectively arranged between the stopping disc 2 and the base disc 1 at intervals, and the retaining discs 5 are used for supporting the structural bones 3 from the radial direction of the structural bones 3, so that the structural bones 3 are still kept in a parallel state in the process of bending deformation, and the structural bones 3 are prevented from being unstable in the bending movement.
A plurality of locking holes used for fixing the end part of the structural bone 3 are arranged on the stopping disc 2 along the circumferential direction, and a plurality of through holes used for the structural bone 3 to slide through are arranged on the base disc 1 and the retaining disc 5 along the circumferential direction. The specific hole locations and number of the through holes and locking holes on different discs depend on the distribution position and number of the structural bones 3. Illustratively, when the structural bones 3 are circumferentially distributed, the specific hole sites are circumferentially distributed, and the number of each hole site is consistent with the number of the structural bones 3, it can be understood that the number of each hole site may be larger than the number of the structural bones 3, and the structural bones 3 may also be circumferentially arranged along the matrix.
In order to maintain the bending retention performance of the continuum mechanism, the continuum mechanism may further optionally include a support structure (not shown in the figure) for supporting the continuum mechanism to maintain the bending retention performance of the continuum mechanism to prevent the continuum mechanism from being unable to smoothly return to the original position after being bent. Specifically, the supporting structure can be made of an inner layer spiral steel belt and an outer layer metal woven mesh, the metal woven mesh is woven into a net structure by metal wires, and the fastening sleeve is arranged on the periphery of the spiral steel belt.
Resilient spacers (e.g., springs, not shown) may be mounted between adjacent discs of the continuum mechanism to space the discs apart.
The embodiment also provides a surgical tool, which comprises the continuum mechanism and an end effector, wherein the end effector is fixedly connected with the stop disc 2 at the distal end of the continuum mechanism. The driving mechanism is used for cooperatively pushing and pulling the structural bones 3 at different positions, and the whole continuum mechanism generates corresponding bending deformation according to different driving quantities generated by pushing or pulling, so that the expected movement of the end effector is realized. The continuum mechanism has flexible bending capability, improves the torsion resistance around the axial direction, further improves the load capacity and the motion accuracy, reduces the operation difficulty and prolongs the service life of an operation tool.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious modifications, rearrangements and substitutions without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (14)
1. A continuum mechanism of coupled kinematic chains, comprising: a continuum mechanism and a kinematic chain (4);
the continuum mechanism comprises a basal disc (1), a stopping disc (2) and a structural bone (3);
the base disc (1) and the stop disc (2) are arranged at intervals;
the far end of the structural bone (3) is fixedly connected with the stopping disc (2), and the near end of the structural bone (3) penetrates through the basal disc (1);
the far end and the near end of the kinematic chain (4) are respectively connected with the stop disc (2) and the base disc (1);
the kinematic chain (4) comprises at least two rotation pairs with rotation axes perpendicular to each other, and the rotation axis of each rotation pair is perpendicular to the extending direction of the continuum mechanism.
2. Continuum mechanism of a coupled kinematic chain according to claim 1, characterized in that the kinematic chain (4) further comprises at least one moving pair arranged movable along the extension direction of the continuum mechanism.
3. Continuum mechanism of coupled kinematic chains according to claim 1, characterized in that the kinematic chain (4) comprises: the rotary disc comprises a first rotary pair (a), a second rotary pair (b), a third rotary pair (d) and a fourth rotary pair (e) which are connected in sequence, wherein the near end of the first rotary pair (a) is connected with the base disc (1), the far end of the fourth rotary pair (e) is connected with the stop disc (2), the rotary axes of the first rotary pair (a) and the second rotary pair (b) are perpendicular to each other, and the rotary axes of the third rotary pair (d) and the fourth rotary pair (e) are perpendicular to each other.
4. The kinematic-chain continuum mechanism according to claim 3, characterized in that the kinematic chain (4) comprises: a first link (41), a second link (42), a third link (43), a fourth link (44), a fifth link (45), and a sixth link (46);
the proximal end of the first connecting rod (41) is fixedly connected with the base plate (1), the distal end of the first connecting rod (41) and the proximal end of the second connecting rod (42) are hinged through a rotating shaft to form the first rotating pair (a), the distal end of the second connecting rod (42) and the proximal end of the third connecting rod (43) are hinged through a rotating shaft to form the second rotating pair (b), and the rotating axes of the first rotating pair (a) and the second rotating pair (b) are perpendicular to each other;
the far end of the third connecting rod (43) is connected with the near end of the fourth connecting rod (44), the far end of the fourth connecting rod (44) is hinged with the near end of the fifth connecting rod (45) through a rotating shaft to form the third revolute pair (d), the far end of the fifth connecting rod (45) is hinged with the near end of the sixth connecting rod (46) through a rotating shaft to form the fourth revolute pair (e), the rotating axes of the third revolute pair (d) and the fourth revolute pair (e) are perpendicular to each other, and the far end of the sixth connecting rod (46) is fixedly connected with the stop disc (2).
5. The kinematics chain continuum mechanism according to claim 4,
one of the distal end of the third connecting rod (43) and the proximal end of the fourth connecting rod (44) is provided with a first guide hole, and the other of the distal end of the third connecting rod (43) and the proximal end of the fourth connecting rod (44) is provided with a first sliding rod (441), wherein the first sliding rod (441) is slidably arranged in the first guide hole, so that the distal end of the third connecting rod (43) and the proximal end of the fourth connecting rod (44) form a first moving pair (c).
6. The kinematic-chain continuum mechanism according to claim 3, characterized in that the kinematic chain (4) comprises: a first gimbal (47) and a second gimbal (48) connected to each other;
the near end of the first universal joint (47) is fixedly connected with the base plate (1), and the far end of the second universal joint (48) is fixedly connected with the stop plate (2).
7. The continuum mechanism of a coupled kinematic chain according to claim 6, characterized in that one of the distal end of the first gimbal (47) and the proximal end of the second gimbal (48) is provided with a second guiding hole, the other of the distal end of the first gimbal (47) and the proximal end of the second gimbal (48) is provided with a second sliding bar (481), the second sliding bar (481) being slidably arranged in the second guiding hole, so that the distal end of the first gimbal (47) and the proximal end of the second gimbal (48) form a second sliding pair (f).
8. Continuous body mechanism of coupled kinematic chains according to any of the claims from 1 to 7, characterised in that the structural bones (3) are provided with a plurality, each of the proximal ends of the structural bones (3) being configured to be able to be connected to a driving mechanism;
or a plurality of said structural bones (3) are configured to be connectable to a drive mechanism.
9. Continuum mechanism of a coupled kinematic chain according to claim 8, characterized in that the structural bones (3) are made of an elastic material.
10. Continuum mechanism of a coupled kinematic chain according to claim 9, characterized in that the structural bone (3) is made of nitinol wire.
11. Continuum mechanism of a coupled kinematic chain according to claim 1, characterized in that it further comprises at least one retaining disc (5) arranged between the stop disc (2) and the base disc (1);
the far end of structure bone (3) with end dish (2) fixed connection, the near-end of structure bone (3) runs through in proper order keep dish (5) with base plate (1), just structure bone (3) are followed respectively base plate (1) keep dish (5) with end the circumference setting of dish (2).
12. The kinematics chain coupled continuum mechanism of claim 8, further comprising a support structure disposed at an outer periphery of the continuum mechanism;
the supporting structure comprises a spiral steel belt and a metal woven net, the spiral steel belt is attached to the outer peripheral surface of the continuous body mechanism, and the metal woven net is attached to the outer peripheral surface of the spiral steel belt.
13. The kinematics chain continuum mechanism according to claim 11, wherein a resilient spacer is mounted between each two adjacent discs of the continuum mechanism.
14. A surgical tool comprising an end effector and a continuum mechanism of any of claims 1 to 13 coupled to the kinematic chain, the end effector being fixedly connected to a stop plate at a distal end of the continuum mechanism.
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| CN202021500320.0U CN213499189U (en) | 2020-07-27 | 2020-07-27 | Continuum mechanism of coupling kinematic chain and surgical tool |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113547541A (en) * | 2021-06-23 | 2021-10-26 | 哈尔滨工业大学（深圳） | Rope-driven flexible mechanical arm joint based on linkage of connecting rods and mechanical arm system |
| CN114434424A (en) * | 2022-01-25 | 2022-05-06 | 南京信息工程大学 | Bionic spine mechanism |
| DE102021119532A1 (en) | 2021-07-28 | 2023-02-02 | Karl Storz Se & Co. Kg | Surgical instrument and transmission device therefor |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113547541A (en) * | 2021-06-23 | 2021-10-26 | 哈尔滨工业大学（深圳） | Rope-driven flexible mechanical arm joint based on linkage of connecting rods and mechanical arm system |
| CN113547541B (en) * | 2021-06-23 | 2023-05-12 | 哈尔滨工业大学（深圳） | Rope-driven flexible mechanical arm joint based on connecting rod linkage and mechanical arm system |
| DE102021119532A1 (en) | 2021-07-28 | 2023-02-02 | Karl Storz Se & Co. Kg | Surgical instrument and transmission device therefor |
| DE102021119532B4 (en) | 2021-07-28 | 2023-10-19 | Karl Storz Se & Co. Kg | Surgical instrument and gear device therefor |
| CN114434424A (en) * | 2022-01-25 | 2022-05-06 | 南京信息工程大学 | Bionic spine mechanism |
| CN114434424B (en) * | 2022-01-25 | 2024-01-09 | 南京信息工程大学 | Bionic spine mechanism |
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Address after: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |