CN215273286U - A low-torque-driven minimally invasive surgical robotic arm RCM mechanism - Google Patents
A low-torque-driven minimally invasive surgical robotic arm RCM mechanism Download PDFInfo
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- CN215273286U CN215273286U CN202120895864.XU CN202120895864U CN215273286U CN 215273286 U CN215273286 U CN 215273286U CN 202120895864 U CN202120895864 U CN 202120895864U CN 215273286 U CN215273286 U CN 215273286U
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- 238000001356 surgical procedure Methods 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
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Abstract
本实用新型涉及一种低扭矩驱动微创手术机械臂RCM机构，包括：基座；驱动机构，设置基座上；支撑结构，其设置在基座的一侧，与驱动机构的输出端连接；平行四边形机构，设置在支撑结构背离驱动机构的一侧，其连杆I的端部和支撑结构铰接，与连杆I平行的连杆II上设置有手术器械；连接件，其一端连接在连杆I背离支撑结构一端的连杆III的端部；直线驱动机构，设置在支撑结构上，其输出端和连接件背离连杆III的一端连接，本装置通过直线驱动机构使带动平行四边形机构运动，从而缩小本装置的手术器械在水平方向的运动距离，通过小的驱动力，可使得手术器械进行俯仰运动，从而降低了直线驱动机构的输出动力的要求，值得推广。
The utility model relates to a low-torque driving minimally invasive surgical mechanical arm RCM mechanism, comprising: a base; a driving mechanism, which is arranged on the base; a support structure, which is arranged on one side of the base and is connected with an output end of the driving mechanism; The parallelogram mechanism is arranged on the side of the support structure away from the drive mechanism, the end of the connecting rod I is hinged with the supporting structure, and the connecting rod II parallel to the connecting rod I is provided with a surgical instrument; The end of the connecting rod III at one end of the rod I away from the support structure; the linear drive mechanism is arranged on the support structure, and its output end is connected with the end of the connecting piece away from the connecting rod III, and the device drives the parallelogram mechanism to move through the linear drive mechanism , thereby reducing the movement distance of the surgical instrument of the device in the horizontal direction, and through a small driving force, the surgical instrument can be made to perform a pitching motion, thereby reducing the output power requirement of the linear drive mechanism, and it is worth popularizing.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to low moment of torsion drive minimal access surgery arm RCM mechanism.
Background
The manual mechanical arm can more accurately help the doctor to control the progress of the operation, and meanwhile, the working difficulty of the doctor can be greatly reduced. The operation can also prevent the inevitable trauma caused by manual operation of doctors. At present, the force of Meidun and the force of Qiangsheng tighten the production and innovation of the medical mechanical arm of the patient, and of course, the DaVinci robot. The advent of these companies has led to a breakthrough in robotic surgery. Currently, 12-18 robotic arms are available for selective use by physicians.
In the field of mechanical arm technology development, one of the most important matters is a Remote Center of Motion Mechanism (RCM Mechanism). The main function of the RCM mechanism is to provide a distal center of motion at the distal end, which is provided coincident with the incision during surgery. Therefore, the wound of the patient can not be moved and pulled in the operation process, and the safety performance of the operation is ensured. At present, the most mainstream mechanical arm RCM mechanism is a parallelogram mechanism, but the power requirement of the traditional parallelogram RCM mechanism is higher. Therefore, a low torque drive mechanism for a robotic arm RCM of a minimally invasive surgery is needed to solve the above problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the problems existing in the prior art and providing a low-torque driving mechanical arm RCM mechanism for minimally invasive surgery.
The technical scheme of the utility model is that:
the method comprises the following steps:
a base;
the driving mechanism is arranged on the base;
the supporting structure is arranged on one side of the base and is connected with the output end of the driving mechanism;
the parallelogram mechanism is arranged on one side of the support structure, which is far away from the driving mechanism, the end part of a connecting rod I of the parallelogram mechanism is hinged with the support structure, and a surgical instrument is arranged on a connecting rod II parallel to the connecting rod I;
one end of the connecting piece is connected with the end part of the connecting rod III at one end of the connecting rod I deviating from the supporting structure;
and the linear driving mechanism is arranged on the supporting structure, and the output end of the linear driving mechanism is connected with one end of the connecting piece, which deviates from the connecting rod III.
Preferably, the connecting piece is perpendicular to the connecting rod III.
Preferably, the drive direction links III of the linear drive mechanism are parallel.
Preferably, the parallelogram mechanism is formed by sequentially hinging a connecting rod I, a connecting rod II, a connecting rod III and a connecting rod IV.
Preferably, the support structure comprises a support rod, a guide groove is formed in the support rod along the axial direction of the support rod, a sliding block is connected in the guide groove in a sliding mode, the sliding block is fixed at the end portion of the connecting piece, and the sliding block is connected with the output end of the linear driving mechanism.
Preferably, the linear driving mechanism is one of an electric push rod, a pneumatic cylinder or a hydraulic cylinder.
Preferably, the driving mechanism comprises a motor fixed on the base, and the output end of the motor is connected with the end of the supporting rod.
Compared with the prior art, the utility model provides a pair of low moment of torsion drive minimal access surgery arm RCM mechanism, its beneficial effect is:
1. the utility model discloses simple structure, convenient to use.
2. The utility model discloses a straight line actuating mechanism makes and drives the motion of parallelogram mechanism to reduce the surgical instruments of this device at the movement distance of horizontal direction, through little drive power promptly, can make surgical instruments carry out the luffing motion, and then reduced the requirement to the straight line actuating mechanism's of this degree of freedom output power, simultaneously, can make surgical instruments accomplish luffing motion and beat action through straight line actuating mechanism and actuating mechanism, and then realize the high-efficient treatment of patient's wound, moreover, the steam generator is simple in structure, is worth promoting.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the pitching motion of the surgical device of the present invention;
fig. 3 is a schematic view of the deflection of the surgical instrument according to the present invention.
Detailed Description
An embodiment of the present invention will be described in detail with reference to fig. 1 to 3, but it should be understood that the scope of the present invention is not limited by the embodiment.
As shown in fig. 1, the utility model provides a pair of low moment of torsion drive minimal access surgery arm RCM mechanism, include: a base 1; the driving mechanism 2 is arranged on the base 1; the supporting structure 3 is arranged on one side of the base 1 and is connected with the output end of the driving mechanism 2; the parallelogram mechanism is arranged on one side of the support structure 3, which is far away from the driving mechanism 2, the end part of the connecting rod I5 of the parallelogram mechanism is hinged with the support structure 3, and a surgical instrument 9 is arranged on a connecting rod II7 which is parallel to the connecting rod I5; a connecting piece, one end of which is connected with the end part of the connecting rod III4 at the end of the connecting rod I5 departing from the supporting structure 3; and the linear driving mechanism is arranged on the supporting structure 3, the output end of the linear driving mechanism is connected with one end of the connecting piece, which is deviated from the connecting rod III4, wherein the intersection point of the rotating axis 8 of the supporting structure 3 and the central line of the axis 9 of the surgical instrument is the RCM point.
Wherein the connecting piece is perpendicular to the connecting rod III 4.
The drive direction link III4 of the linear drive mechanism is parallel to it.
Wherein, the parallelogram mechanism is formed by sequentially hinging a connecting rod I5, a connecting rod II7, a connecting rod III4 and a connecting rod IV 6.
The supporting structure 3 comprises a supporting rod, a guide groove is formed in the supporting rod along the axial direction of the supporting rod, a sliding block 3-1 is connected in the guide groove in a sliding mode, the sliding block 3-1 is fixed to the end portion of the connecting piece, and the sliding block 3-1 is connected with the output end of the linear driving mechanism.
Wherein, linear drive mechanism chooses one of them of electric putter, pneumatic cylinder or pneumatic cylinder for use.
The driving mechanism 2 comprises a motor fixed on the base 1, and the output end of the motor is connected with the end of the supporting rod.
Principle of operation
The utility model discloses during the use, as shown in fig. 1, in the use, the actuating mechanism 2 of this device drives bearing structure 3 and rotates, makes surgical instruments 9 at vertical plane internal rotation, removes along the guide way through sharp actuating mechanism drive slider 3-1 simultaneously, drives connecting piece promptly and promotes parallelogram mechanism's connecting rod III4, and then makes parallelogram mechanism's connecting rod I5 rotate around bearing structure 3's tip to control surgical instruments 9 and remove in vertical plane.
To sum up, compared with the prior art, the utility model discloses a low moment of torsion drive minimal access surgery arm RCM mechanism makes through linear drive mechanism and drives parallelogram mechanism motion to reduce the surgical instruments of this device at the movement distance of horizontal direction, through little drive power promptly, can make surgical instruments carry out the luffing motion, and then reduced the requirement to the linear drive mechanism's of this degree of freedom output power, and simultaneously, can make surgical instruments accomplish luffing and beat action through linear drive mechanism and actuating mechanism, and then realize the high-efficient treatment of patient's wound, moreover, the steam generator is simple in structure, and is worth promoting.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the embodiments, and any changes that can be considered by those skilled in the art shall fall within the protection scope of the present invention.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120895864.XU CN215273286U (en) | 2021-04-28 | 2021-04-28 | A low-torque-driven minimally invasive surgical robotic arm RCM mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120895864.XU CN215273286U (en) | 2021-04-28 | 2021-04-28 | A low-torque-driven minimally invasive surgical robotic arm RCM mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215273286U true CN215273286U (en) | 2021-12-24 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120895864.XU Expired - Fee Related CN215273286U (en) | 2021-04-28 | 2021-04-28 | A low-torque-driven minimally invasive surgical robotic arm RCM mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215273286U (en) |
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2021
- 2021-04-28 CN CN202120895864.XU patent/CN215273286U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211224 |
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| CF01 | Termination of patent right due to non-payment of annual fee |