WO2020114370A1 - 基于剪叉机构的远端中心运动机构 - Google Patents

基于剪叉机构的远端中心运动机构 Download PDF

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Publication number
WO2020114370A1
WO2020114370A1 PCT/CN2019/122557 CN2019122557W WO2020114370A1 WO 2020114370 A1 WO2020114370 A1 WO 2020114370A1 CN 2019122557 W CN2019122557 W CN 2019122557W WO 2020114370 A1 WO2020114370 A1 WO 2020114370A1
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WIPO (PCT)
Prior art keywords
scissor
rotating
shaft
assembly
rotating shaft
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Ceased
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PCT/CN2019/122557
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English (en)
French (fr)
Inventor
何玉成
齐晓志
胡颖
韩雷
张朋
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Publication of WO2020114370A1 publication Critical patent/WO2020114370A1/zh
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Definitions

  • the invention belongs to the technical field of surgical assistant robots, and in particular relates to a distal center motion mechanism based on a scissor mechanism.
  • the Da Vinci surgical robot system assists medical personnel by controlling the movement of the surgical instruments held by them. surgery.
  • all surgical instruments must move around the wound.
  • the movement space of the surgical instrument is restricted accordingly.
  • the distal central motion mechanism is a crucial mechanism, and it is currently the primary choice for the design of the end of minimally invasive surgical assistant robots.
  • the remote central kinematic mechanism based on parallelogram mechanism can be used in practical applications, such as the Da Vinci surgical robot system
  • the remote central motion mechanism based on the parallelogram mechanism such as the end of the Da Vinci surgical robot, has a large volume. In a surgery with a small operating space, interference between surgical instruments is prone to occur, and the range of motion is severely limited. Carry out related operations that require more operation space, such as eye surgery, otolaryngology surgery, etc.
  • the distal center motion mechanism mainly includes the following: a remote center motion mechanism based on a parallelogram mechanism, a remote center motion mechanism based on a spherical distribution, and a remote center based on a cross-line method Movement mechanism, remote center movement mechanism based on space mechanism, etc.
  • the distal central motion mechanism based on the parallelogram mechanism such as the end of the Da Vinci surgical robot, has the problems of large volume, in the operation with a small operation space, interference between surgical instruments is prone to occur, and the range of motion is severely limited.
  • the purpose of the present invention is to provide a distal center movement mechanism based on a scissor mechanism, which aims to solve the problem that the distal center movement mechanism based on the parallelogram mechanism in the prior art has a large volume and is prone to interference between surgical instruments and the range of motion significantly limited technical issues.
  • a distal central motion mechanism based on a scissor mechanism including:
  • the base assembly includes a base, a driving mechanism, a first rotating shaft, and a second rotating shaft.
  • the base is provided with first and second cam grooves spaced up and down, and the first rotating shaft passes through
  • the base is rotatably connected to the base and located above the first cam slot, the drive mechanism is mounted on the base and connected to the first rotating shaft, and the second rotating shaft Passing through the base and rotatingly connected with the base and between the second cam groove and the first cam groove;
  • the scissor mechanism assembly includes a first scissor mechanism connected with a first cam follower and a second scissor mechanism connected with a second cam follower.
  • the first cam follower passes through the first A cam groove and can move along the first cam groove
  • the second cam follower passes through the second cam groove and can move along the second cam groove;
  • the first One end is fixedly connected to the first rotating shaft through a first upper rotating auxiliary fixing member
  • the first end of the second scissor mechanism is fixedly connected to the second rotating shaft through a second upper rotating auxiliary fixing member;
  • An instrument fixing assembly includes an instrument fixing seat and a first rotating shaft and a second rotating shaft provided on the instrument fixing seat.
  • the second end of the first scissor mechanism is connected to the The first rotating shaft is rotatably connected, and the second end of the second scissor mechanism is rotatably connected to the second rotating shaft through a second lower rotating auxiliary fixing member.
  • first scissor mechanisms are provided, and the two first scissor mechanisms are respectively connected to both ends of the first cam follower and are symmetrically arranged about the base ;
  • Two second scissor mechanisms are provided, and the two second scissor mechanisms are respectively connected to both ends of the second cam follower and are symmetrically arranged with the base as the center, and two The second scissor mechanism is located between the two first scissor mechanisms.
  • the first scissor mechanism includes several sets of first scissor assemblies, each of the first scissor assemblies includes two first rotating auxiliary connectors that are arranged crosswise and rotatably connected, adjacent The first scissor assembly is rotatably connected by the adjacent first rotating sub-connector, and the first rotating sub-connector of the first scissor assembly at the upper end of the first scissor mechanism is connected to the first The first upper rotating pair fixing member is rotationally connected, and the first rotating pair connecting member of the first scissors assembly located at the lower end of the first scissor mechanism is rotationally connected with the first lower rotating pair fixing member;
  • the second scissor mechanism includes a plurality of sets of second scissor assemblies, each of the second scissor assemblies includes two cross-connected and second rotatably connected second rotation sub-connectors, and the adjacent second scissors
  • the fork assembly is rotatably connected by the adjacent second rotation sub-connector, the second rotation sub-connector of the second scissor assembly at the upper end of the second scissor mechanism rotates with the second upper
  • a secondary fixing member is rotationally connected, and the second rotating auxiliary connector of the second scissor assembly at the lower end of the second scissor mechanism is rotationally connected with the second lower rotating sub-fixing member.
  • the first scissor assembly further includes a first shaft connector, and a first bearing groove is provided in the middle of the first rotating auxiliary connector, and a first bearing is provided in the first bearing groove.
  • the first shaft connecting member is disposed between the two cross-connected first rotating auxiliary connectors, and both ends respectively pass through the two first rotating auxiliary connectors and are connected to all the Describe the first bearing fixed connection;
  • the second scissor assembly further includes a second shaft connector, a second bearing groove is provided in the middle of the second rotating auxiliary connector, a second bearing is provided in the second bearing groove, and the second shaft
  • the connecting member is disposed between the two cross-connected second rotating auxiliary connectors and the two ends respectively pass through the two second rotating auxiliary connectors and are connected to the second bearing in the second bearing groove Fixed connection.
  • the first upper rotary auxiliary fixing member includes a first upper fixed plate, a first upper horizontal axis and a first upper vertical axis connected to the first upper fixed plate, and the first upper horizontal axis Perpendicular to the first upper vertical axis, the first upper horizontal axis is connected to the first upper connecting plate on both sides of the first upper fixing plate; the first upper fixing plate and the first The rotating shaft is fixedly connected, and the first upper connecting plate is rotatably connected to the first rotating auxiliary connecting piece of the first scissor assembly at the upper end of the first scissor mechanism. The end is fixedly connected to the adjacent first shaft connecting member;
  • the first lower rotating auxiliary fixing member includes a first lower fixing plate, a first lower horizontal axis and a first lower vertical axis connected to the first lower fixing plate, the first lower horizontal axis and the first
  • the lower vertical axis is vertically arranged, and the first lower horizontal axis is connected with first lower connecting plates located on both sides of the first lower fixed plate;
  • the first lower fixed plate is rotatably connected with the first rotating shaft ,
  • the first lower connecting plate is rotatably connected to the first rotating auxiliary connecting piece of the first scissor assembly located at the lower end of the first scissor mechanism, and the end of the first lower vertical axis is adjacent to
  • the first shaft connecting piece is fixedly connected;
  • the second upper rotating auxiliary fixing member includes a second upper fixing plate, a second upper horizontal axis and a second upper vertical axis connected to the second upper fixing plate, the second upper horizontal axis and the first
  • the second upper vertical axis is vertically arranged, and the second upper horizontal axis is connected with second upper connecting plates located on both sides of the second upper fixed plate;
  • the second upper fixed plate is fixedly connected with the second rotating shaft ,
  • the second upper connecting plate is rotatably connected to the second rotating auxiliary connector of the second scissor assembly located at the upper end of the second scissor mechanism, and the end of the second upper vertical shaft is connected to the The second shaft connector is fixedly connected;
  • the second lower rotating auxiliary fixing member includes a second lower fixing plate, a second lower horizontal axis and a second lower vertical axis connected to the second lower fixing plate, the second lower horizontal axis and the first
  • the second lower vertical axis is arranged vertically, and the second lower horizontal axis is connected with second lower connecting plates located on both sides of the second lower fixing plate;
  • the second lower fixing plate is rotatably connected with the second rotating shaft ,
  • the second lower connecting plate is rotatably connected to the second rotating auxiliary connector of the second scissor assembly located at the lower end of the second scissor mechanism, and the end of the second lower vertical axis is adjacent to
  • the second shaft connector is fixedly connected.
  • a connection point of the first upper rotating auxiliary fixing member and the first rotating shaft is O 11
  • a connection point of the second upper rotating auxiliary fixing member and the second rotating shaft is O 12
  • the connection point of the first lower rotating auxiliary fixing member and the first rotating shaft is P 1
  • the connection point of the second lower rotating auxiliary fixing member and the second rotating shaft is P 2
  • O 11 and P The connection of 1 is parallel to the connection of O 12 and P 2 .
  • a plurality of first cam bearings are connected to the first cam follower, and each of the first cam bearings is located in the first cam groove and can move along the first cam groove;
  • a plurality of second cam bearings are connected to the second cam follower, and each of the second cam bearings is located in the second cam groove and can move along the second cam groove.
  • the driving mechanism includes a motor, a first timing pulley, a second timing pulley, and a timing belt
  • the motor is mounted on the base, the first timing pulley and the main shaft of the motor
  • the second timing belt pulley is fixedly connected to the first rotating shaft, and the timing belt is wound and connected between the first timing pulley and the second timing pulley.
  • the instrument fixing base includes an instrument fixing rod and a shaft mounting member, the shaft mounting member is connected to the instrument fixing rod at a vertical angle, and both the first rotating shaft and the second rotating shaft are They are fixed on the side of the shaft mounting member and are arranged parallel to the instrument fixing rod.
  • optical positioning targets are provided on the base assembly, the scissor mechanism assembly and the instrument fixing assembly.
  • the distal center movement mechanism based on the scissor mechanism of the present invention when used, fixes the base of the base assembly to the robot, and the surgical instrument is fixedly installed on the instrument fixing seat of the instrument fixing assembly, and
  • the rotation movement and the length change movement of the scissor mechanism assembly are coupled through the first cam groove that cooperates with the first cam follower and the second cam groove that cooperates with the second cam follower.
  • the first rotating shaft connected to the driving mechanism is driven to rotate, because the first end of the first scissor mechanism is fixedly connected to the first rotating shaft through the first upper rotating auxiliary fixing member, Then when the first rotating shaft rotates, it will drive the first scissor mechanism to rotate around the connection point with the first rotating shaft, and the first cam follower connected to the first scissor mechanism moves in the first cam slot , The length of the first scissor mechanism changes, driving the instrument holder to achieve movement, because the second end of the first scissor mechanism and the second end of the second scissor mechanism pass through the first rotation axis and the second rotation axis and The instrument fixing seat is connected, and the movement of the instrument fixing seat is simultaneously restricted by the second scissor mechanism.
  • the second scissor mechanism rotates around the connection point with the second rotation axis as the center.
  • the second scissor mechanism is connected to the second scissor mechanism.
  • the two cam followers move in the second cam slot, the position of the entire scissor mechanism assembly changes, driving the instrument holder to move around a distal center, and the entire mechanism forms a distal center motion mechanism. Since the distal center movement mechanism of the present invention is based on the telescopic scissor mechanism to achieve movement, the volume of the entire distal center movement mechanism can be designed to be smaller, the movement range is wider, and surgical instruments installed on the instrument fixing seat can be effectively avoided There was a problem of interference.
  • FIG. 1 is a schematic structural diagram of a distal center movement mechanism based on a scissor mechanism provided by an embodiment of the present invention.
  • FIG. 2 is an exploded schematic view of the structure of a distal center movement mechanism based on a scissor mechanism provided by an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a first scissor-scissor mechanism based on a distal center motion mechanism of a scissor mechanism according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a second scissor mechanism based on a distal center motion mechanism of a scissor mechanism provided by an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a base of a distal central movement mechanism based on a scissor mechanism provided by an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a distal center motion mechanism based on coupling motion of a distal center motion mechanism based on a scissor mechanism provided by an embodiment of the present invention.
  • FIG. 7 is a motion schematic diagram of a first scissor assembly or a second scissor assembly of a distal center motion mechanism based on a scissor mechanism provided by an embodiment of the present invention.
  • the first upper horizontal axis 233 The first upper vertical axis
  • the first lower horizontal axis 243 The first lower vertical axis
  • FIGS. 1 to 7 are exemplary, and are intended to explain the present invention, and should not be construed as limiting the present invention.
  • first and second are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
  • the features defined as “first” and “second” may explicitly or implicitly include one or more of the features.
  • the meaning of “plurality” is two or more, unless otherwise specifically limited.
  • the terms “installation”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , Or integrated; it can be mechanical connection or electrical connection; it can be directly connected or indirectly connected through an intermediary, it can be the connection between two components or the interaction between two components.
  • installation can be a fixed connection or a detachable connection , Or integrated; it can be mechanical connection or electrical connection; it can be directly connected or indirectly connected through an intermediary, it can be the connection between two components or the interaction between two components.
  • a distal center motion mechanism based on a scissor mechanism is mainly used for clamping of surgical instruments 200 such as medical endoscopes, etc. ; Can also be used in other places where remote central movement is required.
  • it includes a base assembly 10, a scissor mechanism assembly 20 and an instrument fixing assembly 30.
  • the base assembly 10 serves as a component connected to the robot and outputs power as a power source.
  • the scissor mechanism assembly 20 can be telescopic, and can rotate and telescope after the power source outputs power.
  • the instrument fixing assembly 30 is connected to the scissor mechanism assembly 20 and is used to install and fix the surgical instrument 200.
  • the surgical instrument 200 moves with the movement of the instrument fixing assembly 30 to perform surgery, and the movement of the instrument fixing assembly 30 passes through the scissors mechanism assembly 20. Rotation and telescoping are realized, and finally can move around a distal center, and the entire mechanism forms a distal center motion mechanism.
  • the base assembly 10 includes a base 11, a driving mechanism 12, a first rotating shaft 13 and a second rotating shaft 14.
  • a cam groove 111 and a second cam groove 112 are arc-shaped grooves, wherein the size relationship between the second cam groove 112 and the first cam groove 111 forms an equal ratio, the second cam
  • the size of the groove 112 is smaller than the size of the first cam groove 111.
  • the first rotating shaft 13 passes through the base 11 and is rotationally connected to the base 11 and is located above the first cam groove 111.
  • the driving mechanism 12 is mounted on the base 11 and connected to the first rotating shaft 13 and the second rotating shaft 14 Passing through the base 11 and rotatably connected with the base 11 and located between the second cam groove 112 and the first cam groove 111, the first rotating shaft 13 and the second rotating shaft 14 are arranged parallel to each other.
  • the base 11 is provided with holes for the first rotating shaft 13 and the second rotating shaft 14 to penetrate, and the first rotating shaft 13 and the second rotating shaft 14 can be provided with bearings and holes to cooperate, so that the first The rotating shaft 13 and the second rotating shaft 14 can rotate relative to the base 11, so that both the first rotating shaft 13 and the second rotating shaft 14 are rotatably connected to the base 11.
  • the scissor mechanism assembly 20 includes a first scissor mechanism 21 connected with a first cam follower 21a and a second scissor mechanism connected with a second cam follower 22a 22.
  • the length of the first scissor mechanism 21 is greater than the length of the second scissor mechanism 22.
  • the first cam follower 21a and the second cam follower 22a are arranged parallel to each other, and are both parallel to the first rotation shaft 13 and the second rotation shaft 14.
  • the first cam follower 21a passes through the first cam groove 111 and can move along the first cam groove 111
  • the second cam follower 22a passes through the second cam groove 112 and can move along the second cam groove 112;
  • the first end of the scissor mechanism 21 is fixedly connected to the first rotating shaft 13 through the first upper rotating auxiliary fixing member 23, so that when the first rotating shaft 13 rotates, the first upper rotating auxiliary fixing member 23 drives the entire first shear The fork mechanism 21 swings.
  • the first end of the second scissor mechanism 22 is fixedly connected to the second rotating shaft 14 through the second upper turning auxiliary fixing member 25.
  • the second scissor mechanism 22 passively rotates, the second upper turning auxiliary fixing member
  • the connection between 25 and the second rotating shaft 14 realizes swinging around the second rotating shaft 14.
  • the instrument fixing assembly 30 includes an instrument fixing seat 33 and a first rotating shaft 31 and a second rotating shaft 32 provided on the instrument fixing seat 33.
  • the instrument fixing seat 33 is used for surgical instruments 200 is installed, and the first rotating shaft 31 and the second rotating shaft 32 are used to connect the first scissor mechanism 21 and the second scissor mechanism 22, respectively.
  • the second end of the first scissor mechanism 21 is rotatably connected to the first rotating shaft 31 through the first lower rotation sub-fixture 24, and the second end of the second scissor mechanism 22 is connected to the second through the second lower rotation sub-fixture 26
  • the rotating shaft 32 is rotationally connected.
  • the instrument holder 33 connected to the second end through the first rotation shaft 31 rotates around a center of the distal end, and at the same time, the instrument holder 33 also passes through the second
  • the rotating shaft 32 is rotatably connected to the second end of the second scissor mechanism 22, then the second scissor mechanism 22 passively makes a telescopic movement and swings about the connection point of the second scissor mechanism 22 and the second rotating shaft 14 as the center, and
  • the first scissor mechanism 21 is combined to rotate the instrument holder 33 about a center of the distal end.
  • the distal center movement mechanism based on the scissor mechanism fixes the base 11 of the base assembly 10 to the robot, and the surgical instrument 200 is fixedly installed on the instrument fixing base 33 of the instrument fixing assembly 30 when in use.
  • the rotation movement and the length change movement of the scissor mechanism assembly 20 are coupled through the first cam groove 111 that cooperates with the first cam follower 21a and the second cam groove 112 that cooperates with the second cam follower 22a.
  • first end of the first scissor mechanism 21 passes through the first upper turning auxiliary fixing member 23 and the first A rotary shaft 13 is fixedly connected, then when the first rotary shaft 13 rotates, it will drive the first scissor mechanism 21 to rotate around the connection point with the first rotary shaft 13 as the center, and the first cam connected to the first scissor mechanism 21
  • the follower 21a moves in the first cam groove 111, the length of the first scissor mechanism 21 changes, and the instrument holder 33 is driven to move, because the second end of the first scissor mechanism 21 and the second scissor mechanism
  • the second end of 22 is connected to the instrument fixing seat 33 through the first rotating shaft 31 and the second rotating shaft 32 respectively.
  • the movement of the instrument fixing seat 33 is simultaneously restricted by the second scissor mechanism 22, and the second scissor mechanism 22 is wound around
  • the connection point of the second rotating shaft 14 rotates at the center, and at the same time, the second cam follower 22a connected to the second scissor mechanism 22 moves in the second cam groove 112, and the position of the entire scissor mechanism assembly 20 changes.
  • Driving the instrument fixing base 33 to move around a distal center the whole mechanism forms a distal center movement mechanism.
  • the distal center movement mechanism of the present invention is based on the telescopic scissor mechanism to achieve movement, the volume of the entire distal center movement mechanism can be designed to be smaller, the movement range is wider, and the operation installed on the instrument fixing base 33 can be effectively avoided
  • the device 200 has a problem of interference.
  • the distal center movement mechanism based on the scissor mechanism includes a first scissor mechanism 21 and a second scissor mechanism 22.
  • the distal center movement mechanism based on the scissor mechanism includes two first scissor mechanisms 21 and two second scissor mechanisms 22.
  • the two first scissor mechanisms 21 are respectively connected to the two ends of the first cam follower 21a and are symmetrically arranged with the base 11 as the center.
  • the two second scissor mechanisms 22 are respectively connected to the two ends of the second cam follower 22a and are symmetrically arranged with the base 11 as the center.
  • the two second scissor mechanisms 22 are located between the two first scissor mechanisms 21 between.
  • the entire distal center movement mechanism formed in this way is symmetrically parallel to the left and right with the base 11 as the center, so that the movement of the instrument holder 33 during operation is more stable and the accuracy is higher, ensuring the use of the surgical instrument 200 installed on the instrument holder 33 More flexible.
  • the distal center motion mechanism based on the scissor mechanism in this embodiment is provided with two first scissor mechanisms 21 and two second scissor mechanisms 22, correspondingly, it may be provided on the instrument fixing base 33 Two first rotating shafts 31 and two second rotating shafts 32, the two first rotating shafts 31 are respectively connected to the lower ends of the two first scissor mechanisms 21, and the two second rotating shafts 32 are respectively connected to the two second The lower end of the scissor mechanism 22 is connected.
  • the first scissor mechanism 21 includes several groups of first scissor assemblies 211, and each first scissor assembly 211 includes two cross-set and rotatably connected
  • the first rotating sub-connector 2111, the two first rotating sub-connectors 2111 of each first scissor assembly 211 can rotate around each other with their connection points as the scissors structure in life, so when two When a pair of rotating connecting members 2111 rotates with each other, the length of the entire first scissor assembly 211 will change.
  • the adjacent first scissor assembly 211 is rotatably connected by the adjacent first rotating sub-connector 2111, and the first rotating sub-connector 2111 of the first scissor assembly 211 at the upper end of the first scissor mechanism 21 is connected to the first
  • the rotating pair fixing member 23 is rotatably connected, and the first rotating pair connecting member 2111 of the first scissor assembly 211 at the lower end of the first scissor mechanism 21 is rotatably connected to the first lower rotating pair fixing member 24; that is, a single first scissor fork
  • the mechanism 21 is respectively arranged with a first upper rotating auxiliary fixing member 23, a first scissor assembly 211 and a first lower rotating auxiliary fixing member 24 from its length direction, wherein the first scissor assembly 211 is located on the first upper rotating auxiliary fixing member Between 23 and the first lower rotating sub-fixing member 24, the number may be multiple, set according to requirements.
  • the structures of the first upper rotating auxiliary fixing member 23 and the first lower rotating auxiliary fixing member 24 are the same, except that the setting positions in the single first scissor mechanism 21 are opposite, and the single first scissor mechanism 21 passes
  • the first upper rotating auxiliary fixing member 23 and the first lower rotating auxiliary fixing member 24 are connected to the first rotating shaft 13 and the first rotating shaft 31, respectively.
  • the second scissor mechanism 22 includes several sets of second scissor assemblies 221, and each second scissor assembly 221 includes two cross-disposed and rotatably connected Two rotating sub-connectors 2211, the two second rotating sub-connectors 2211 of each second scissor assembly 221 can rotate around each other at the connection point, similar to the scissors structure in life.
  • the two rotating auxiliary connectors 2211 rotate with each other, the length of the entire second scissor assembly 221 will change.
  • the adjacent second scissor assembly 221 is rotatably connected by the adjacent second rotating sub-connector 2211, and the second rotating sub-connector 2211 and the second upper part of the second scissor assembly 221 at the upper end of the second scissor mechanism 22
  • the rotating pair fixing member 25 is rotatably connected, and the second rotating pair connecting member 2211 of the second scissor assembly 221 at the lower end of the second scissor mechanism 22 is rotatably connected to the second lower rotating pair fixing member 26.
  • the single second scissor mechanism 22 is respectively arranged with a second upper turning sub-fixing member 25, a second scissor assembly 221, and a second lower turning sub-fixing member 26 from its length direction, wherein the second scissor assembly 221 is located
  • the number of the second upper rotating sub-fixing member 25 and the second lower rotating sub-fixing member 26 may be multiple, which is set according to requirements.
  • the structures of the second upper rotating auxiliary fixing member 25 and the second lower rotating auxiliary fixing member 26 are the same, except that the installation positions in the single second scissor mechanism 22 are opposite, and the single second scissor mechanism 22 passes
  • the second upper rotating auxiliary fixing member 25 and the second lower rotating auxiliary fixing member 26 are connected to the second rotating shaft 14 and the second rotating shaft 32, respectively.
  • the lengths of the two first rotary auxiliary connectors 2111 of each first scissor assembly 211 are the same, and the lengths of the two second rotary auxiliary connectors 2211 of each second scissor assembly 221 the same.
  • the length of the first rotating pair connector 2111 of each first scissor assembly 211 based on the distal center movement mechanism of the scissor mechanism is greater than the second rotating pair of each second scissor assembly 221 Connector 2211. Also, the overall length of the first scissor mechanism 21 is greater than the overall length of the second scissor mechanism 22.
  • the first cam follower 21a connected to 21, that is, C 1 acts on the moving part of the moving pair of the base assembly 10, causes the length of the first scissor mechanism 21 to change, so that point P 1 makes a circle around the center O 2 motion.
  • the relationship between the profile of the first cam follower 21 a, that is, C 1 and the angle ⁇ can be calculated as follows:
  • a distance value for the point P 1 to the point, the first scissor mechanism 21 may be achieved by a small displacement amplification variation range.
  • the first scissor mechanism 21 is composed of multiple first scissor assemblies 211.
  • the multiple single-stage first scissor assemblies 211 of the first scissor mechanism 21 Superimposed, the length is L 2 .
  • L 3 in FIG. 6 is the total length of the second scissor mechanism 22, and the relationship between the profile of the second cam follower 22a, that is, C 2 and the angle ⁇ is Cam 2 ( ⁇ ).
  • the working principle of the second scissor mechanism 22 is the same as that of the first scissor mechanism 21, and it can be inferred with reference to FIG. 6, which will not be elaborated here.
  • connection point of the first upper rotating auxiliary fixing member 23 and the first rotating shaft 13 is O 11
  • the second upper rotating auxiliary fixing member 25 and the second rotating shaft The connection point of 14 is O 12
  • the connection point of the first lower rotating auxiliary fixing member 24 and the first rotating shaft 31 is P 1
  • the connection point of the second lower rotating auxiliary fixing member 26 and the second rotating shaft 32 is P 2
  • the connection between O 11 and P 1 is parallel to the connection between O 12 and P 2 .
  • each first scissor assembly 211 and each second scissor assembly 221 is as follows:
  • the single-stage scissor assembly (single first scissor assembly 211 or single second scissor assembly 221) is composed of two rotating auxiliary connectors (first rotating auxiliary connector 2111 or second rotating auxiliary connector) 2211) structure, the length of the rotation sub-connector is l, the rotation sub-connector is connected to the rotation sub-fixture, the rotation sub-fixture (for example: the first upper rotation sub-fixture 23, the first lower rotation sub-fixture 24, the second The upper rotating pair fixing member 25 or the second lower rotating pair fixing member 26)
  • the lateral movement can drive the position and angle of the rotating pair connector to change.
  • the longitudinal height of the single-stage scissor assembly is H, and the angle between the rotating pair connector and the horizontal plane Is ⁇ ; for each stacking number of n scissors assembly, the displacement increases by 2n times, combined with the characteristics of the scissor mechanism (first scissor mechanism 21 and second scissor mechanism 22), namely the first scissor mechanism 21 and the second
  • the first cam follower 21a respectively connected to the scissor mechanism 22 moves along the first cam groove 111
  • the second cam follower 22a moves along the second cam groove 112
  • the displacement increment after the n-stage amplification is (2n-1 ) Times
  • the surgical instrument 200 (for example, a medical endoscope) is fixedly connected to the instrument fixing base 33, and its center line intersects and is perpendicular to the axes of the first rotating shaft 31 and the second rotating shaft 32.
  • the medical endoscope is only used here to indicate a surgical instrument 200 that can be used for the distal center movement mechanism of this embodiment.
  • Other types of surgical instruments 200 can also be fixed on the instrument fixing base 33 in a similar manner .
  • the working principles of the first scissor mechanism 21 and the second scissor mechanism 22 are the same, the relationship between the length and angle of the first scissor mechanism 21, the cam profile and the angle
  • the relationship and the principle of displacement amplification are the same as the relationship between the length and angle of the second scissor mechanism 22, the relationship between the cam profile and the angle, and the principle of displacement amplification.
  • the first scissor assembly 211 further includes a first shaft connector 2112, and a first bearing groove 211a is provided in the middle of the first rotating auxiliary connector 2111, and the first bearing groove
  • the first bearing 211b is provided in the 211a, the outer ring of the first bearing 211b is fixedly connected to the inner wall of the first bearing groove 211a, and the first shaft connecting member 2112 is disposed between the two first rotating auxiliary connecting members 2111 arranged crosswise.
  • both ends of the first shaft connecting member 2112 pass through the two first rotating auxiliary connectors 2111 and are fixedly connected to the first bearing 211b in the first bearing groove 211a, and the end of the first shaft connecting member 2112 penetrates
  • the first bearing 211b is fixedly connected to the inner ring of the first bearing 211b.
  • the two first rotary auxiliary connectors 2111 of each first scissor assembly 211 are relatively rotated, they are both rotated relative to the first bearing 211b provided in the first bearing groove 211a of the self, and the two The first bearings 211b are fixedly connected to both ends of a first shaft connector 2112, respectively. That is, the two first rotating auxiliary connectors 2111 both rotate relative to the first shaft connecting member 2112.
  • the rotation achieved by the bearing connection not only has low friction but also has good stability, and can effectively ensure that each first scissor assembly 211 is longitudinal
  • the height is easy to change, so that the telescopic movement of the entire first scissor mechanism 21 is more free and smooth.
  • the second scissor assembly 221 further includes a second shaft connector 2212, and a second bearing groove 221a is provided in the middle of the second rotating auxiliary connector 2211, and the second bearing
  • the groove 221a is provided with a second bearing 221b
  • the outer ring of the second bearing 221b is fixedly connected to the inner wall of the second bearing groove 221a
  • the second shaft connecting member 2212 is disposed between the two second rotating auxiliary connecting members 2211 arranged crosswise
  • the two ends of the second shaft connector 2212 pass through the two second rotating auxiliary connectors 2211 and are fixedly connected to the second bearing 221b in the second bearing groove 221a
  • the end of the second shaft connector 2212 passes through It is inserted into the second bearing 221b and fixedly connected to the inner ring of the second bearing 221b.
  • each second scissor assembly 221 when the two second rotating auxiliary connectors 2211 of each second scissor assembly 221 are relatively rotated, both of them rotate relative to the second bearing 221b provided in the second bearing groove 221a of the The second bearings 221b are fixedly connected to the two ends of a second shaft connector 2212, respectively. That is, the two second rotating auxiliary connectors 2211 both rotate relative to the second shaft connecting member 2212, and the rotation achieved by the bearing connection not only has low friction but also good stability, and can effectively ensure that each second scissor assembly 221 is longitudinal The height is easy to change, so that the telescopic movement of the entire second scissor mechanism 22 is more free and smooth.
  • the first upper rotating auxiliary fixing member 23 includes a first upper fixing plate 231, a first upper horizontal axis 232 connected to the first upper fixing plate 231, and a first upper vertical axis 233.
  • the first upper fixing plate 231, the first upper horizontal shaft 232 and the first upper vertical shaft 233 are integrally formed.
  • the first upper horizontal axis 232 is perpendicular to the first upper vertical axis 233.
  • the first upper horizontal axis 232 is connected to the first upper connecting plates 234 located on both sides of the first upper fixing plate 231.
  • One upper horizontal shaft 232 is moved and connected, that is, relative movement can occur, and the two first upper connecting plates 234 are used to connect with the two first rotating auxiliary connectors 2111 of the same first scissor assembly 211, the connection mode It can be realized by means of shaft and bearing matching, and the connection is a rotary connection; the first upper fixing plate 231 is fixedly connected to the first rotating shaft 13, the first upper connecting plate 234 is connected to the first shear located at the upper end of the first scissor mechanism 21
  • the first rotating auxiliary connecting piece 2111 of the fork assembly 211 is rotationally connected, and the end of the first upper vertical shaft 233 is fixedly connected to the adjacent first shaft connecting piece 2112.
  • the adjacent first shaft connecting piece 2112 specifically refers to the uppermost position.
  • the first lower rotating auxiliary fixing member 24 includes a first lower fixing plate 241, a first lower horizontal axis 242 and a first lower vertical axis connected to the first lower fixing plate 241 243.
  • the first lower fixing plate 241, the first lower horizontal axis 242, and the first lower vertical axis 243 are integrally formed.
  • the first lower horizontal axis 242 is perpendicular to the first lower vertical axis 243.
  • the first lower horizontal axis 242 is connected to the first lower connecting plates 244 located on both sides of the first lower fixing plate 241.
  • the lower horizontal axis 242 is moved and connected, that is, relative movement can occur.
  • the two first lower connecting plates 244 are used to connect with the two first rotating auxiliary connectors 2111 of the same first scissor assembly 211.
  • the shaft and the bearing can be used in a coordinated manner, and the connection is a rotational connection;
  • the first lower fixing plate 241 is rotationally connected to the first rotating shaft 31, and the first lower connecting plate 244 is connected to the first shear located at the lower end of the first scissor mechanism 21
  • the first rotating auxiliary connecting piece 2111 of the fork assembly 211 is rotationally connected, and the end of the first lower vertical shaft 243 is fixedly connected to the adjacent first shaft connecting piece 2112.
  • the adjacent first shaft connecting piece 2112 specifically refers to The first shaft connector 2112 of the first scissor assembly 211 at the lower end.
  • the second upper rotating auxiliary fixing member 25 includes a second upper fixing plate 251, a second upper horizontal axis 252 and a second upper vertical axis connected to the second upper fixing plate 251 253.
  • the second upper fixing plate 251, the second upper horizontal axis 252 and the second upper vertical axis 253 are integrally formed.
  • the second upper horizontal axis 252 is perpendicular to the second upper vertical axis 253.
  • the second upper horizontal axis 252 is connected to the second upper connecting plates 254 on both sides of the second upper fixing plate 251.
  • the two upper horizontal shafts 252 are movably connected, that is, relative movement can occur, and the two second upper connecting plates 254 are used to connect with the two second rotating auxiliary connectors 2211 of the same second scissor assembly 221, the connection mode It can be realized by cooperating the shaft and the bearing, and the connection is a rotary connection; the second upper fixing plate 251 is fixedly connected to the second rotating shaft 14, the second upper connecting plate 254 and the second shear located at the upper end of the second scissor mechanism 22
  • the second rotating auxiliary connecting piece 2211 of the fork assembly 221 is rotationally connected, and the end of the second upper vertical shaft 253 is fixedly connected to the second shaft connecting piece 2212.
  • the adjacent second shaft connecting piece 2212 specifically refers to the second The second shaft connector 2212 of the scissor assembly 221.
  • the second lower rotating auxiliary fixing member 26 includes a second lower fixing plate 261, a second lower horizontal axis 262 and a second lower vertical axis connected to the second lower fixing plate 261 263.
  • the second lower fixing plate 261, the second lower horizontal shaft 262, and the second lower vertical shaft 263 are integrally formed.
  • the second lower horizontal axis 262 is perpendicular to the second lower vertical axis 263.
  • the second lower horizontal axis 262 is connected to the second lower connecting plates 264 located on both sides of the second lower fixing plate 261.
  • the two lower horizontal shafts 262 are moved and connected, that is, relative movement can occur, and the two second lower connecting plates 264 are used to connect with the two second rotating auxiliary connectors 2211 of the same second scissor assembly 221.
  • the connection is a rotational connection;
  • the second lower fixing plate 261 is rotationally connected to the second rotating shaft 32, and the second lower connecting plate 264 is connected to the second shear located at the lower end of the second scissor mechanism 22
  • the second rotating auxiliary connecting piece 2211 of the fork assembly 221 is rotationally connected, and the end of the second lower vertical shaft 263 is fixedly connected to the adjacent second shaft connecting piece 2212.
  • the adjacent second shaft connecting piece 2212 specifically refers to The second shaft connector 2212 of the second scissor assembly 221 at the lower end.
  • first upper rotating auxiliary fixing member 23, the first lower rotating auxiliary fixing member 24, the second upper rotating auxiliary fixing member 25, and the second lower rotating auxiliary fixing member 26 have the same function, and the structure may be the same or similar structure.
  • a plurality of first cam bearings 21b are connected to the first cam follower 21a, and each first cam bearing 21b is located in the first cam groove 111 and can The cam groove 111 moves.
  • the number of first cam bearings 21b is set according to the width of the first cam groove 111, and when the width of the first cam groove 111 is large, it is preferably set to four or six, for example.
  • the first cam bearing 21b can be moved in the first cam groove 111 under the driving of the first cam follower 21a, and due to the advantages of the bearing's own structure, the friction force during movement can be reduced and the entire first scissor mechanism can be raised 21 Smoothness when turning.
  • a plurality of second cam bearings 22b are connected to the second cam follower 22a, and each second cam bearing 22b is located in the second cam groove 112 and can be along the second The cam groove 112 moves.
  • the number of second cam bearings 22b is set according to the width of the second cam groove 112, and when the width of the second cam groove 112 is large, it is preferably set to four or six, for example.
  • the second cam bearing 22b can be moved in the second cam groove 112 by the second cam follower 22a, and due to the advantages of the bearing's own structure, the friction force during movement can be reduced and the entire second scissor mechanism can be raised 22 Smoothness when turning.
  • the driving mechanism 12 includes a motor 123, a first timing pulley 121, a second timing pulley 122, and a timing belt (not shown).
  • the motor 123 is mounted on the base 11
  • the base 11 may be provided with a mounting structure for mounting and fixing the motor 123 to ensure the stability of the motor 123 after installation.
  • the first timing pulley 121 is fixedly connected to the main shaft of the motor 123
  • the second timing pulley 122 is fixedly connected to the first rotating shaft 13
  • the timing belt is wound and connected between the first timing pulley 121 and the second timing pulley 122 .
  • the second synchronous pulley can be driven by the synchronous belt 122 rotates, so that the first rotating shaft 13 fixedly connected to the second timing pulley 122 rotates, the first rotating shaft 13 drives the first scissor mechanism 21 to rotate, and the first scissor mechanism 21 rotates to fix it with the instrument connected to it
  • the assembly 30 and the second scissor mechanism 22 connected to the instrument fixing assembly 30 finally realize the rotation of the instrument fixing base 33 about a center of the distal end.
  • the instrument fixing base 33 includes an instrument fixing rod 331 and a shaft mounting member 332, the shaft mounting member 332 is connected to the instrument fixing rod 331 at a vertical angle, and the first rotating shaft 31
  • the second rotating shaft 32 and the second rotating shaft 32 are both fixed to the side of the shaft mounting member 332 and are arranged parallel to the instrument fixing rod 331.
  • the instrument fixing base 33 includes two shaft mounting members 332, the two shaft mounting members 332 are respectively connected to both ends of the instrument fixing rod 331, and the two shaft mounting members The inner side of 332 is connected with the first and second rotating shafts 31 and 32 spaced apart and parallel, so that they can be connected to two symmetrically arranged first and second scissor mechanisms 21 and 22, respectively. .
  • the base assembly 10, the scissor mechanism assembly 20, and the instrument fixing assembly 30 are all provided with optical positioning targets 100.
  • the setting of the optical positioning target 100 is used for positioning the space of the base assembly 10, the scissor mechanism assembly 20 and the instrument fixing assembly 30.
  • the optical positioning target 100 may be a product produced by NDI.

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Abstract

本申请属于手术辅助机器人技术领域，尤其涉及一种基于剪叉机构的远端中心运动机构，包括基座组件、剪叉机构组件和器械固定组件。基座组件包括基座、驱动机构、第一旋转轴和第二旋转轴；剪叉机构组件包括连接有第一凸轮从动件的第一剪叉机构和连接有第二凸轮从动件连接的第二剪叉机构；器械固定组件包括器械固定座和设置于器械固定座上的第一转动轴和第二转动轴。由于本申请的远端中心运动机构是基于剪叉机构伸缩实现动作，如此可以将整个远端中心运动机构的体积设计的更小，运动范围更广，可以有效避免安装于器械固定座的手术器械出现干涉的问题。

Description

基于剪叉机构的远端中心运动机构 技术领域
本发明属于手术辅助机器人技术领域，尤其涉及一种基于剪叉机构的远端中心运动机构。
背景技术
随着微创手术的广泛普及与推广，手术辅助机器人在微创手术中扮演了越来越重要的角色，比如达芬奇手术机器人系统，通过控制所夹持手术器械的运动，辅助医护人员完成手术。在机器人辅助微创手术过程中，所有手术器械必须围绕创口运动，同时由于创口小的要求，手术器械的运动空间受到了相应的限制，为了将手术器械的运动范围限制在以创口为中心的范围内，手术器械在运动过程中，存在一个基本不动点，即远端中心点，手术器械围绕基本不动点的运动，也称为远端中心运动；而实现远端中心运动的机构被称为远端中心运动机构。
在微创手术辅助机器人结构中，远端中心运动机构是一个至关重要的机构，是目前微创手术辅助机器人末端设计的首要选择。目前远端中心运动机构种类少，可实际应用的更少(只有基于平行四边形机构的远端中心运动机构可用于实际应用，如达芬奇手术机器人系统)，并由于自身结构的限制，难以满足当前微创手术辅助机器人不同种类手术发展的需要。基于平行四边形机构的远端中心运动机构，如达芬奇手术机器人的末端，存在体积大，在手术操作空间狭小的手术中，易发生手术器械间干涉，运动范围严重受限等问题，从而难以开展操作空间要求更高的相关手术，如眼科手术、耳鼻喉科手术等。
目前，在微创手术辅助机器人中，远端中心运动机构主要有以下几种：基于平行四边形机构的远端中心运动机构，基于球面分布的远端中心运动机构，基于交叉线方法的远端中心运动机构，基于空间机构的远端中心运动机构等。
以上几种类型的远端中心运动机构，只有基于平行四边形机构的远端中心运动机构用于实际应用。基于平行四边形机构的远端中心运动机构，如达芬奇手术机器人的末端，存在体积大，在手术操作空间狭小的手术中，易发生手术器械间干涉，运动范围严重受限等问题。
技术问题
本发明的目的在于提供一种基于剪叉机构的远端中心运动机构，旨在解决现有技术中的基于平行四边形机构的远端中心运动机构存在体积大而易发生手术器械间干涉以及运动范围严重受限的技术问题。
技术解决方案
为实现上述目的，本发明采用的技术方案是：一种基于剪叉机构的远端中心运动机构，包括：
基座组件，包括基座、驱动机构、第一旋转轴和第二旋转轴，所述基座上设有上下间隔布置的第一凸轮槽和第二凸轮槽，所述第一旋转轴穿过所述基座并与所述基座转动连接且位于所述第一凸轮槽的上方，所述驱动机构安装于所述基座上并与所述第一旋转轴连接，所述第二旋转轴穿过所述基座并与所述基座转动连接且位于所述第二凸轮槽与所述第一凸轮槽之间；
剪叉机构组件，包括连接有第一凸轮从动件的第一剪叉机构和连接有第二凸轮从动件连接的第二剪叉机构，所述第一凸轮从动件穿过所述第一凸轮槽并能够沿所述第一凸轮槽移动，所述第二凸轮从动件穿过所述第二凸轮槽并能够沿所述第二凸轮槽移动；所述第一剪叉机构的第一端通过第一上转动副固定件与所述第一旋转轴固定连接，所述第二剪叉机构的第一端通过第二上转动副固定件与所述第二旋转轴固定连接；
器械固定组件，包括器械固定座和设置于所述器械固定座上的第一转动轴和第二转动轴，所述第一剪叉机构的第二端通过第一下转动副固定件与所述第一转动轴转动连接，所述第二剪叉机构的第二端通过第二下转动副固定件与所述第二转动轴转动连接。
可选地，所述第一剪叉机构设置有两个，且两个所述第一剪叉机构分别连接在所述第一凸轮从动件的两端并以所述基座为中心对称设置；
所述第二剪叉机构设置有两个，且两个所述第二剪叉机构分别连接在所述第二凸轮从动件的两端并以所述基座为中心对称设置，两个所述第二剪叉机构均位于两个所述第一剪叉机构之间。
可选地，所述第一剪叉机构包括若干组第一剪叉组件，每个所述第一剪叉组件均包括两个交叉设置且可转动连接的第一转动副连接件，相邻的所述第一剪叉组件通过相邻的所述第一转动副连接件转动连接，位于所述第一剪叉机构上端的所述第一剪叉组件的所述第一转动副连接件与所述第一上转动副固定件转动连接，位于所述第一剪叉机构下端的所述第一剪叉组件的所述第一转动副连接件与所述第一下转动副固定件转动连接；
所述第二剪叉机构包括若干组第二剪叉组件，各所述第二剪叉组件均包括两个交叉设置且可转动连接的第二转动副连接件，相邻的所述第二剪叉组件通过相邻的所述第二转动副连接件转动连接，位于所述第二剪叉机构上端的所述第二剪叉组件的所述第二转动副连接件与所述第二上转动副固定件转动连接，位于所述第二剪叉机构下端的所述第二剪叉组件的所述第二转动副连接件与所述第二下转动副固定件转动连接。
可选地，所述第一剪叉组件还包括第一轴连接件，所述第一转动副连接件的中部开设 有第一轴承槽，所述第一轴承槽内设有第一轴承，所述第一轴连接件设置于两个交叉设置的所述第一转动副连接件之间且两端分别穿过两个所述第一转动副连接件并与所述第一轴承槽内的所述第一轴承固定连接；
所述第二剪叉组件还包括第二轴连接件，所述第二转动副连接件的中部开设有第二轴承槽，所述第二轴承槽内设有第二轴承，所述第二轴连接件设置于两个交叉设置的所述第二转动副连接件之间且两端分别穿过两个所述第二转动副连接件并与所述第二轴承槽内的所述第二轴承固定连接。
可选地，所述第一上转动副固定件包括第一上固定板、连接于所述第一上固定板上的第一上横轴和第一上竖轴，所述第一上横轴与所述第一上竖轴垂直设置，所述第一上横轴上连接有位于所述第一上固定板两侧的第一上连接板；所述第一上固定板与所述第一旋转轴固定连接，所述第一上连接板与位于所述第一剪叉机构上端的所述第一剪叉组件的所述第一转动副连接件转动连接，所述第一上竖轴的末端与相邻的所述第一轴连接件固定连接；
所述第一下转动副固定件包括第一下固定板、连接于所述第一下固定板上的第一下横轴和第一下竖轴，所述第一下横轴与所述第一下竖轴垂直设置，所述第一下横轴上连接有位于所述第一下固定板两侧的第一下连接板；所述第一下固定板与所述第一转动轴转动连接，所述第一下连接板与位于所述第一剪叉机构下端的所述第一剪叉组件的所述第一转动副连接件转动连接，所述第一下竖轴的末端与相邻的所述第一轴连接件固定连接；
所述第二上转动副固定件包括第二上固定板、连接于所述第二上固定板上的第二上横轴和第二上竖轴，所述第二上横轴与所述第二上竖轴垂直设置，所述第二上横轴上连接有位于所述第二上固定板两侧的第二上连接板；所述第二上固定板与所述第二旋转轴固定连接，所述第二上连接板与位于所述第二剪叉机构上端的所述第二剪叉组件的所述第二转动副连接件转动连接，所述第二上竖轴的末端与所述第二轴连接件固定连接；
所述第二下转动副固定件包括第二下固定板、连接于所述第二下固定板上的第二下横轴和第二下竖轴，所述第二下横轴与所述第二下竖轴垂直设置，所述第二下横轴上连接有位于所述第二下固定板两侧的第二下连接板；所述第二下固定板与所述第二转动轴转动连接，所述第二下连接板与位于所述第二剪叉机构下端的所述第二剪叉组件的所述第二转动副连接件转动连接，所述第二下竖轴的末端与相邻的所述第二轴连接件固定连接。
可选地，所述第一上转动副固定件与所述第一旋转轴的连接点为O 11，所述第二上转动副固定件与所述第二旋转轴的连接点为O 12，所述第一下转动副固定件与所述第一转动轴的连接点为P 1，所述第二下转动副固定件与所述第二转动轴的连接点为P 2，O 11与P 1的连线平行于O 12与P 2的连线。
可选地，所述第一凸轮从动件上连接有若干第一凸轮轴承，各所述第一凸轮轴承均位于所述第一凸轮槽内并能够沿所述第一凸轮槽移动；
所述第二凸轮从动件上连接有若干第二凸轮轴承，各所述第二凸轮轴承均位于所述第二凸轮槽内并能够沿所述第二凸轮槽移动。
可选地，所述驱动机构包括电机、第一同步带轮、第二同步带轮和同步带，所述电机安装于所述基座上，所述第一同步带轮与所述电机的主轴固定连接，所述第二同步带轮与所述第一旋转轴固定连接，所述同步带绕设连接于所述第一同步带轮与所述第二同步带轮之间。
可选地，所述器械固定座包括器械固定杆和轴安装件，所述轴安装件与所述器械固定杆连接并呈垂直夹角，所述第一转动轴和所述第二转动轴均固定于所述轴安装件的侧部且均与所述器械固定杆平行设置。
可选地，所述基座组件、所述剪叉机构组件和所述器械固定组件上均设有光学定位靶点。
有益效果
本发明的有益效果：本发明的基于剪叉机构的远端中心运动机构，使用时，将基座组件的基座固定在机器人上，手术器械固定安装在器械固定组件的器械固定座上，而剪叉机构组件的旋转运动与长度变化运动则通过与第一凸轮从动件配合的第一凸轮槽以及与第二凸轮从动件配合的第二凸轮槽进行耦合。当基座上的驱动机构启动后，与驱动机构连接的第一旋转轴被带动而转动，由于第一剪叉机构的第一端通过第一上转动副固定件与第一旋转轴固定连接，那么第一旋转轴转动时，会带动第一剪叉机构绕与第一旋转轴的连接点为中心转动，与第一剪叉机构连接的第一凸轮从动件则在第一凸轮槽内移动，第一剪叉机构的长度发生变化，带动器械固定座实现运动，由于第一剪叉机构的第二端和第二剪叉机构的第二端分别通过第一转动轴和第二转动轴与器械固定座连接，器械固定座的运动同时收到第二剪叉机构的限制，第二剪叉机构绕与第二旋转轴的连接点为中心转动，同时，与第二剪叉机构连接的第二凸轮从动件则在第二凸轮槽内移动，整个剪叉机构组件的位置发生变化，带动器械固定座绕着一个远端中心运动，整个机构形成一个远端中心运动机构。由于本发明的远端中心运动机构是基于剪叉机构伸缩实现动作，如此可以将整个远端中心运动机构的体积设计的更小，运动范围更广，可以有效避免安装于器械固定座的手术器械出现干涉的问题。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施 例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的基于剪叉机构的远端中心运动机构的结构示意图。
图2为本发明实施例提供的基于剪叉机构的远端中心运动机构的结构分解示意图。
图3为本发明实施例提供的基于剪叉机构的远端中心运动机构的第一剪叉剪叉机构的结构示意图。
图4为本发明实施例提供的基于剪叉机构的远端中心运动机构的第二剪叉机构的结构示意图。
图5为本发明实施例提供的基于剪叉机构的远端中心运动机构的基座的结构示意图。
图6为本发明实施例提供的基于剪叉机构的远端中心运动机构的基于耦合运动的远端中心运动机构的原理图。
图7为本发明实施例提供的基于剪叉机构的远端中心运动机构的第一剪叉组件或第二剪叉组件的运动原理图。
其中，图中各附图标记：
10—基座组件                   11—基座
12—驱动机构                   13—第一旋转轴
14—第二旋转轴                 20—剪叉机构组件
21—第一剪叉机构               21a—第一凸轮从动件
21b—第一凸轮轴承              22—第二剪叉机构
22a—第二凸轮从动件            22b—第二凸轮轴承
23—第一上转动副固定件         24—第一下转动副固定件
25—第二上转动副固定件         26—第二下转动副固定件
30—器械固定组件               31—第一转动轴
32—第二转动轴                 33—器械固定座
100—光学定位靶点              111—第一凸轮槽
112—第二凸轮槽                121—第一同步带轮
122—第二同步带轮              123—电机
200—手术器械                  211—第一剪叉组件
221—第二剪叉组件              211a—第一轴承槽
211b—第一轴承                 221a—第二轴承槽
221b—第二轴承                 231—第一上固定板
232—第一上横轴                 233—第一上竖轴
234—第一上连接板               241—第一下固定板
242—第一下横轴                 243—第一下竖轴
244—第一下连接板               251—第二上固定板
252—第二上横轴                 253—第二上竖轴
254—第二上连接板               261—第二下固定板
262—第二下横轴                 263—第二下竖轴
264—第二下连接板               331—器械固定杆
332—轴安装件                   2111—第一转动副连接件
2112—第一轴连接件              2211—第二转动副连接件
2212—第二轴连接件。
本发明的实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图1～7描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
如图1～2所示，本发明实施例提供的一种基于剪叉机构的远端中心运动机构，主要用于微创手术辅助机器人的末端，比如医用内窥镜等手术器械200的夹持；也可以用于其他 需要远端中心运动的地方。具体包括基座组件10、剪叉机构组件20和器械固定组件30。基座组件10作为与机器人连接的部件，并且作为动力源输出动力。剪叉机构组件20能够实现伸缩，在动力源输出动力后实现转动和伸缩。器械固定组件30与剪叉机构组件20连接并供手术器械200安装固定，手术器械200随着器械固定组件30的运动而运动执行手术，而器械固定组件30的运动则通过剪叉机构组件20的转动和伸缩实现，并且最终可以绕着一个远端中心运动，整个机构形成一个远端中心运动机构。
进一步地，如图1～2和图5所示，基座组件10包括基座11、驱动机构12、第一旋转轴13和第二旋转轴14，基座11上设有上下间隔布置的第一凸轮槽111和第二凸轮槽112，第一凸轮槽111和第二凸轮槽112均为弧形槽，其中第二凸轮槽112与第一凸轮槽111的大小关系形成等比例，第二凸轮槽112的尺寸小于第一凸轮槽111的尺寸。第一旋转轴13穿过基座11并与基座11转动连接且位于第一凸轮槽111的上方，驱动机构12安装于基座11上并与第一旋转轴13连接，第二旋转轴14穿过基座11并与基座11转动连接且位于第二凸轮槽112与第一凸轮槽111之间，第一旋转轴13与第二旋转轴14相互平行设置。其中，基座11上设置有孔供第一旋转轴13和第二旋转轴14穿设，并且第一旋转轴13和第二旋转轴14上可以设置轴承与孔实现配合，如此可以实现第一旋转轴13和第二旋转轴14能够相对于基座11转动，进而使得第一旋转轴13和第二旋转轴14均与基座11实现转动连接。
进一步地，如图1～2所示，剪叉机构组件20包括连接有第一凸轮从动件21a的第一剪叉机构21和连接有第二凸轮从动件22a连接的第二剪叉机构22，第一剪叉机构21的长度大于第二剪叉机构22的长度。第一凸轮从动件21a和第二凸轮从动件22a相互平行设置，且均与第一旋转轴13和第二旋转轴14平行。第一凸轮从动件21a穿过第一凸轮槽111并能够沿第一凸轮槽111移动，第二凸轮从动件22a穿过第二凸轮槽112并能够沿第二凸轮槽112移动；第一剪叉机构21的第一端通过第一上转动副固定件23与第一旋转轴13固定连接，如此，第一旋转轴13转动时，通过第一上转动副固定件23带动整个第一剪叉机构21摆动。第二剪叉机构22的第一端通过第二上转动副固定件25与第二旋转轴14固定连接，同理，第二剪叉机构22被动转动时，则通过第二上转动副固定件25与第二旋转轴14的连接实现以第二旋转轴14为中心摆动。
进一步地，如图1～2所示，器械固定组件30包括器械固定座33和设置于器械固定座33上的第一转动轴31和第二转动轴32，器械固定座33用于供手术器械200安装，第一转动轴31和第二转动轴32则分别用于连接第一剪叉机构21和第二剪叉机构22。第一剪叉机构21的第二端通过第一下转动副固定件24与第一转动轴31转动连接，第二剪叉机构 22的第二端通过第二下转动副固定件26与第二转动轴32转动连接。第一剪叉机构21在转动时结合自身的伸缩使得通过第一转动轴31与其第二端连接的器械固定座33绕着远端一个中心转动，同时，又由于器械固定座33还通过第二转动轴32与第二剪叉机构22的第二端转动连接，那么第二剪叉机构22被动作出伸缩运动以及绕第二剪叉机构22与第二旋转轴14的连接点为中心摆动，与第一剪叉机构21结合使得器械固定座33绕着远端的一个中心转动。
本发明实施例的基于剪叉机构的远端中心运动机构，使用时，将基座组件10的基座11固定在机器人上，手术器械200固定安装在器械固定组件30的器械固定座33上，而剪叉机构组件20的旋转运动与长度变化运动则通过与第一凸轮从动件21a配合的第一凸轮槽111以及与第二凸轮从动件22a配合的第二凸轮槽112进行耦合。当基座11上的驱动机构12启动后，与驱动机构12连接的第一旋转轴13被带动而转动，由于第一剪叉机构21的第一端通过第一上转动副固定件23与第一旋转轴13固定连接，那么第一旋转轴13转动时，会带动第一剪叉机构21绕与第一旋转轴13的连接点为中心转动，与第一剪叉机构21连接的第一凸轮从动件21a则在第一凸轮槽111内移动，第一剪叉机构21的长度发生变化，带动器械固定座33实现运动，由于第一剪叉机构21的第二端和第二剪叉机构22的第二端分别通过第一转动轴31和第二转动轴32与器械固定座33连接，器械固定座33的运动同时受到第二剪叉机构22的限制，第二剪叉机构22绕与第二旋转轴14的连接点为中心转动，同时，与第二剪叉机构22连接的第二凸轮从动件22a则在第二凸轮槽112内移动，整个剪叉机构组件20的位置发生变化，带动器械固定座33绕着一个远端中心运动，整个机构形成一个远端中心运动机构。由于本发明的远端中心运动机构是基于剪叉机构伸缩实现动作，如此可以将整个远端中心运动机构的体积设计的更小，运动范围更广，可以有效避免安装于器械固定座33的手术器械200出现干涉的问题。
在一个实施例中，基于剪叉机构的远端中心运动机构包括一个第一剪叉机构21和一个第二剪叉机构22。
在另一个实施例中，如图1～2所示，基于剪叉机构的远端中心运动机构包括两个第一剪叉机构21和两个第二剪叉机构22。其中，两个第一剪叉机构21分别连接在第一凸轮从动件的21a两端并以基座11为中心对称设置。两个第二剪叉机构22分别连接在第二凸轮从动件的22a两端并以基座11为中心对称设置，两个第二剪叉机构22均位于两个第一剪叉机构21之间。如此形成的整个远端中心运动机构以基座11为中心左右对称平行，那么工作时带动器械固定座33的运动更加平稳，精度更高，确保安装于器械固定座33上的手术器械200的使用更加灵活。并且，当本实施例中的基于剪叉机构的远端中心运动机构设 置有两个第一剪叉机构21和两个第二剪叉机构22时，相应地，可以在器械固定座33上设置两个第一转动轴31和两个第二转动轴32，两个第一转动轴31分别与两个第一剪叉机构21的下端连接，两个第二转动轴32分别与两个第二剪叉机构22的下端连接。
在一个实施例中，如图1和图3所示，第一剪叉机构21包括若干组第一剪叉组件211，每个第一剪叉组件211均包括两个交叉设置且可转动连接的第一转动副连接件2111，每个第一剪叉组件211的两个第一转动副连接件2111可以以其连接点为中心相互转动，类似于生活中的剪刀结构，如此，当两个第一转动副连接件2111相互转动时，整个第一剪叉组件211的长度会发生变化。相邻的第一剪叉组件211通过相邻的第一转动副连接件2111转动连接，位于第一剪叉机构21上端的第一剪叉组件211的第一转动副连接件2111与第一上转动副固定件23转动连接，位于第一剪叉机构21下端的第一剪叉组件211的第一转动副连接件2111与第一下转动副固定件24转动连接；即，单个第一剪叉机构21从其长度方向分别布置有第一上转动副固定件23、第一剪叉组件211和第一下转动副固定件24，其中，第一剪叉组件211位于第一上转动副固定件23和第一下转动副固定件24之间，数量可以是多个，根据需求设定。优选地，第一上转动副固定件23和第一下转动副固定件24的结构相同，只是在单个第一剪叉机构21中的设置位置形成相对，并且，单个第一剪叉机构21通过第一上转动副固定件23和第一下转动副固定件24分别与第一旋转轴13和第一转动轴31连接。
在一个实施例中，如图1和图4所示，第二剪叉机构22包括若干组第二剪叉组件221，各第二剪叉组件221均包括两个交叉设置且可转动连接的第二转动副连接件2211，每个第二剪叉组件221的两个第二转动副连接件2211可以以其连接点为中心相互转动，同样类似于生活中的剪刀结构，如此，当两个第二转动副连接件2211相互转动时，整个第二剪叉组件221的长度会发生变化。相邻的第二剪叉组件221通过相邻的第二转动副连接件2211转动连接，位于第二剪叉机构22上端的第二剪叉组件221的第二转动副连接件2211与第二上转动副固定件25转动连接，位于第二剪叉机构22下端的第二剪叉组件221的第二转动副连接件2211与第二下转动副固定件26转动连接。即，单个第二剪叉机构22从其长度方向分别布置有第二上转动副固定件25、第二剪叉组件221和第二下转动副固定件26，其中，第二剪叉组件221位于第二上转动副固定件25和第二下转动副固定件26之间，数量可以是多个，根据需求设定。优选地，第二上转动副固定件25和第二下转动副固定件26的结构相同，只是在单个第二剪叉机构22中的设置位置形成相对，并且，单个第二剪叉机构22通过第二上转动副固定件25和第二下转动副固定件26分别与第二旋转轴14和第二转动轴32连接。
其中，如图3所示，每个第一剪叉组件211的两个第一转动副连接件2111的长度相同，每个第二剪叉组件221的两个第二转动副连接件2211的长度相同。
在一个实施例中，基于剪叉机构的远端中心运动机构的每个第一剪叉组件211的第一转动副连接件2111的长度均大于每个第二剪叉组件221的第二转动副连接件2211。并且，第一剪叉机构21的整体长度大于第二剪叉机构22的整体长度。
结合图6～7所示，进一步说明本发明实施例的基于剪叉机构的远端中心运动机构的工作原理如下；
第一剪叉机构21的总长度为L 1，其总长可变P 1O 11＝L 1＝f 1(α)，当第一剪叉机构21绕O 11转动时，与第一剪叉机构21连接的第一凸轮从动件21a，即C 1作用于基座组件10的移动副的移动部分，使得第一剪叉机构21的长度变化，从而使得P 1点绕圆心O 2点作圆周运动。
利用三角函数定理，可以计算得到第一剪叉机构21的长度L 1与角度α的关系如下：
Figure PCTCN2019122557-appb-000001
根据第一剪叉机构21的长度L 1，可以计算得到第一凸轮从动件21a，即C 1的轮廓与角度α的关系如下：
Figure PCTCN2019122557-appb-000002
其中，
Figure PCTCN2019122557-appb-000003
为A点至P 1点的距离值，第一剪叉机构21通过较小的变动幅度可以实现位移放大。如图3所示，第一剪叉机构21由多个第一剪叉组件211组成，为了实现纵向位移的多级放大，第一剪叉机构21的多个单级的第一剪叉组件211叠加构成，长度为L 2。
另外，图6中的L 3即为第二剪叉机构22的总长度，第二凸轮从动件22a，即C 2的轮廓与角度α的关系即为Cam 2(α)。第二剪叉机构22的工作原理与第一剪叉机构21相同，结合图6可以推理出，在此不再进行一一赘述。
进一步地，在一个实施例中，再结合图6所示，第一上转动副固定件23与第一旋转轴13的连接点为O 11，第二上转动副固定件25与第二旋转轴14的连接点为O 12，第一下转动副固定件24与第一转动轴31的连接点为P 1，第二下转动副固定件26与第二转动轴32的连接点为P 2，O 11与P 1的连线平行于O 12与P 2的连线。
其中，每个第一剪叉组件211和每个第二剪叉组件221的工作原理相同，如下：
结合图7所示，单级剪叉组件(单个第一剪叉组件211或者单个第二剪叉组件221)由两个转动副连接件(第一转动副连接件2111或者第二转动副连接件2211)构成，转动副连接 件的长度为l，转动副连接件连接转动副固定件，转动副固定件(例如：第一上转动副固定件23、第一下转动副固定件24、第二上转动副固定件25或者第二下转动副固定件26)横向移动可带动转动副连接件的位置和角度发生变化，单级剪叉组件的纵向高度为H，转动副连接件与水平面夹角为β；每叠加数量为n的剪叉组件，位移增加2n倍，结合剪叉机构(第一剪叉机构21和第二剪叉机构22)的特点，即第一剪叉机构21和第二剪叉机构22分别连接的第一凸轮从动件21a沿第一凸轮槽111移动，第二凸轮从动件22a沿第二凸轮槽112移动，经n级放大后位移增量为(2n-1)倍，并利用三角函数定理关系，可计算得到单级剪叉组件的纵向高度H，转动副连接件的长度l与水平面夹角β的关系如下：
Figure PCTCN2019122557-appb-000004
再次结合图6所示，根据远端中心运动机构的定义，可以推出当P 1,P 2两点同时绕O 2作圆周运动，那么可以得出，点P 1，P 2所在的连杆P 1P 2(即器械固定座33)将绕O 2作远端中心运动。即：当长度为L 1的剪叉机构，绕O 11转动时，将带动连杆P 1P 2绕O 2点作远端中心运动，整个机构形成一个远端中心运动机构。
由于第一转动轴31和第二转动轴32同时绕图6的O 2点作圆周运动，根据远端中心运动的定义，器械固定座33将绕图6的O 2点作远端中心运动。手术器械200(例如医用内窥镜)固定连接在器械固定座33上，其中心线与第一转动轴31、第二转动轴32的轴线相交且垂直。医用内窥镜在这里仅用来表示可以用于本实施例的远端中心运动机构的一种手术器械200，其他种类的手术器械200也可以按照类似的固连方式固定在器械固定座33上。
对于本发明实施例中的剪叉机构组件20中，其第一剪叉机构21与第二剪叉机构22的工作原理相同，第一剪叉机构21的长度与角度的关系、凸轮轮廓与角度的关系及位移放大原理均与第二剪叉机构22的长度与角度的关系、凸轮轮廓与角度的关系及位移放大原理相同。
在一个实施例中，如图2～3所示，第一剪叉组件211还包括第一轴连接件2112，第一转动副连接件2111的中部开设有第一轴承槽211a，第一轴承槽211a内设有第一轴承211b，第一轴承211b的外圈与第一轴承槽211a的内壁固定连接，第一轴连接件2112设置于两个交叉设置的第一转动副连接件2111之间，且第一轴连接件2112的两端分别穿过两个第一转动副连接件2111后并与第一轴承槽211a内的第一轴承211b固定连接，第一轴连接件2112的端部穿入第一轴承211b内并与第一轴承211b的内圈固定连接。具体地，每个第一剪叉组件211的两个第一转动副连接件2111相对转动时，均相对于设置在其自身上的第一轴承槽211a内的第一轴承211b转动，而两个第一轴承211b则分别与一个第一轴连接件 2112的两端固定连接。即，两个第一转动副连接件2111均相对于第一轴连接件2112转动，通过轴承连接实现的转动不但摩擦力小，且稳定性好，可以有效确保每个第一剪叉组件211纵向高度易于变化，如此使得整个第一剪叉机构21的伸缩运动更加自由顺畅。
在一个实施例中，如图2和图4所示，第二剪叉组件221还包括第二轴连接件2212，第二转动副连接件2211的中部开设有第二轴承槽221a，第二轴承槽221a内设有第二轴承221b，第二轴承221b的外圈与第二轴承槽221a的内壁固定连接，第二轴连接件2212设置于两个交叉设置的第二转动副连接件2211之间，且第二轴连接件2212的两端分别穿过两个第二转动副连接件2211后并与第二轴承槽221a内的第二轴承221b固定连接，第二轴连接件2212的端部穿入第二轴承221b内并与第二轴承221b的内圈固定连接。具体地，每个第二剪叉组件221的两个第二转动副连接件2211相对转动时，均相对于设置在其自身上的第二轴承槽221a内的第二轴承221b转动，而两个第二轴承221b则分别与一个第二轴连接件2212的两端固定连接。即，两个第二转动副连接件2211均相对于第二轴连接件2212转动，通过轴承连接实现的转动不但摩擦力小，且稳定性好，可以有效确保每个第二剪叉组件221纵向高度易于变化，如此使得整个第二剪叉机构22的伸缩运动更加自由顺畅。
在一个实施例中，如图3所示，第一上转动副固定件23包括第一上固定板231、连接于第一上固定板231上的第一上横轴232和第一上竖轴233，优选地，第一上固定板231、第一上横轴232和第一上竖轴233一体成型。第一上横轴232与第一上竖轴233垂直设置，第一上横轴232上连接有位于第一上固定板231两侧的第一上连接板234，第一上连接板234与第一上横轴232移动连接，即能够发生相对的移动，两个第一上连接板234均用于与同一个的第一剪叉组件211的两个第一转动副连接件2111连接，连接方式可以采用轴与轴承配合的方式实现，且连接为转动连接；第一上固定板231与第一旋转轴13固定连接，第一上连接板234与位于第一剪叉机构21上端的第一剪叉组件211的第一转动副连接件2111转动连接，第一上竖轴233的末端与相邻的第一轴连接件2112固定连接，该相邻的第一轴连接件2112具体是指位于最上端的第一剪叉组件211的第一轴连接件2112。
在一个实施例中，如图3所示，第一下转动副固定件24包括第一下固定板241、连接于第一下固定板241上的第一下横轴242和第一下竖轴243，优选地，第一下固定板241、第一下横轴242和第一下竖轴243一体成型。第一下横轴242与第一下竖轴243垂直设置，第一下横轴242上连接有位于第一下固定板241两侧的第一下连接板244，第一下连接板244与第一下横轴242移动连接，即能够发生相对的移动，两个第一下连接板244均用于与同一个的第一剪叉组件211的两个第一转动副连接件2111连接，连接方式可以采用轴与轴承配合的方式实现，且连接为转动连接；第一下固定板241与第一转动轴31转动连接， 第一下连接板244与位于第一剪叉机构21下端的第一剪叉组件211的第一转动副连接件2111转动连接，第一下竖轴243的末端与相邻的第一轴连接件2112固定连接，该相邻的第一轴连接件2112具体是指位于最下端的第一剪叉组件211的第一轴连接件2112。
在一个实施例中，如图4所示，第二上转动副固定件25包括第二上固定板251、连接于第二上固定板251上的第二上横轴252和第二上竖轴253，优选地，第二上固定板251、第二上横轴252和第二上竖轴253一体成型。第二上横轴252与第二上竖轴253垂直设置，第二上横轴252上连接有位于第二上固定板251两侧的第二上连接板254，第二上连接板254与第二上横轴252移动连接，即能够发生相对的移动，两个第二上连接板254均用于与同一个的第二剪叉组件221的两个第二转动副连接件2211连接，连接方式可以采用轴与轴承配合的方式实现，且连接为转动连接；第二上固定板251与第二旋转轴14固定连接，第二上连接板254与位于第二剪叉机构22上端的第二剪叉组件221的第二转动副连接件2211转动连接，第二上竖轴253的末端与第二轴连接件2212固定连接，该相邻的第二轴连接件2212具体是指位于最上端的第二剪叉组件221的第二轴连接件2212。
在一个实施例中，如图4所示，第二下转动副固定件26包括第二下固定板261、连接于第二下固定板261上的第二下横轴262和第二下竖轴263，优选地，第二下固定板261、第二下横轴262和第二下竖轴263一体成型。第二下横轴262与第二下竖轴263垂直设置，第二下横轴262上连接有位于第二下固定板261两侧的第二下连接板264，第二下连接板264与第二下横轴262移动连接，即能够发生相对的移动，两个第二下连接板264均用于与同一个的第二剪叉组件221的两个第二转动副连接件2211连接，连接方式可以采用轴与轴承配合的方式实现，且连接为转动连接；第二下固定板261与第二转动轴32转动连接，第二下连接板264与位于第二剪叉机构22下端的第二剪叉组件221的第二转动副连接件2211转动连接，第二下竖轴263的末端与相邻的第二轴连接件2212固定连接，该相邻的第二轴连接件2212具体是指位于最下端的第二剪叉组件221的第二轴连接件2212。
本实施例中的第一上转动副固定件23、第一下转动副固定件24、第二上转动副固定件25和第二下转动副固定件26作用一样，结构可以采用相同或者类似的结构。
在一个实施例中，如图1～2所示，第一凸轮从动件21a上连接有若干第一凸轮轴承21b，各第一凸轮轴承21b均位于第一凸轮槽111内并能够沿第一凸轮槽111移动。具体地，第一凸轮轴承21b的数量设置根据第一凸轮槽111的宽度设定，当第一凸轮槽111的宽度较大时优选设置例如四个或者六个等。第一凸轮轴承21b在第一凸轮从动件21a的带动下可以在第一凸轮槽111内移动，并且由于轴承其自身结构的优点，可以减少移动时的摩擦力，提升整个第一剪叉机构21转动时的顺畅度。
在一个实施例中，如图1～2所示，第二凸轮从动件22a上连接有若干第二凸轮轴承22b，各第二凸轮轴承22b均位于第二凸轮槽112内并能够沿第二凸轮槽112移动。具体地，第二凸轮轴承22b的数量设置根据第二凸轮槽112的宽度设定，当第二凸轮槽112的宽度较大时优选设置例如四个或者六个等。第二凸轮轴承22b在第二凸轮从动件22a的带动下可以在第二凸轮槽112内移动，并且由于轴承其自身结构的优点，可以减少移动时的摩擦力，提升整个第二剪叉机构22转动时的顺畅度。
在一个实施例中，如图1～2所示，驱动机构12包括电机123、第一同步带轮121、第二同步带轮122和同步带(图未示)，电机123安装于基座11上，基座11上可以设置用于供该电机123安装固定的安装结构，以确保电机123安装后的稳定性。第一同步带轮121与电机123的主轴固定连接，第二同步带轮122与第一旋转轴13固定连接，同步带绕设连接于第一同步带轮121与第二同步带轮122之间。电机123启动后，其主轴带动第一同步带轮121转动，由于第一同步带轮121与第二同步带轮122之间绕设连接有同步带，这样可以通过同步带带动第二同步带轮122转动，如此，与第二同步带轮122固定连接的第一旋转轴13转动，第一旋转轴13带动第一剪叉机构21转动，第一剪叉机构21转动时结合与其连接的器械固定组件30以及与器械固定组件30连接的第二剪叉机构22，最终实现使得器械固定座33绕着远端的一个中心转动。
在一个实施例中，如图1～2所示，器械固定座33包括器械固定杆331和轴安装件332，轴安装件332与器械固定杆331连接并呈垂直夹角，第一转动轴31和第二转动轴32均固定于轴安装件332的侧部且均与器械固定杆331平行设置。
在另一个实施例中，如图1～2所示，器械固定座33包括有两个轴安装件332，两个轴安装件332分别连接在器械固定杆331的两端，两个轴安装件332的内侧均连接有间隔布置且平行的第一转动轴31和第二转动轴32，这样可以分别与两个对称设置的第一剪叉机构21和第二剪叉机构22连接。。
在一个实施例中，如图1～2所示，基座组件10、剪叉机构组件20和器械固定组件30上均设有光学定位靶点100。其中，光学定位靶点100的设置是用于对基座组件10、剪叉机构组件20和器械固定组件30的空间进行定位。光学定位靶点100可以为NDI公司生产的产品。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种基于剪叉机构的远端中心运动机构，其特征在于：包括：
    基座组件，包括基座、驱动机构、第一旋转轴和第二旋转轴，所述基座上设有上下间隔布置的第一凸轮槽和第二凸轮槽，所述第一旋转轴穿过所述基座并与所述基座转动连接且位于所述第一凸轮槽的上方，所述驱动机构安装于所述基座上并与所述第一旋转轴连接，所述第二旋转轴穿过所述基座并与所述基座转动连接且位于所述第二凸轮槽与所述第一凸轮槽之间；
    剪叉机构组件，包括连接有第一凸轮从动件的第一剪叉机构和连接有第二凸轮从动件连接的第二剪叉机构，所述第一凸轮从动件穿过所述第一凸轮槽并能够沿所述第一凸轮槽移动，所述第二凸轮从动件穿过所述第二凸轮槽并能够沿所述第二凸轮槽移动；所述第一剪叉机构的第一端通过第一上转动副固定件与所述第一旋转轴固定连接，所述第二剪叉机构的第一端通过第二上转动副固定件与所述第二旋转轴固定连接；
    器械固定组件，包括器械固定座和设置于所述器械固定座上的第一转动轴和第二转动轴，所述第一剪叉机构的第二端通过第一下转动副固定件与所述第一转动轴转动连接，所述第二剪叉机构的第二端通过第二下转动副固定件与所述第二转动轴转动连接。
  2. 根据权利要求1所述的基于剪叉机构的远端中心运动机构，其特征在于：所述第一剪叉机构设置有两个，且两个所述第一剪叉机构分别连接在所述第一凸轮从动件的两端并以所述基座为中心对称设置；
    所述第二剪叉机构设置有两个，且两个所述第二剪叉机构分别连接在所述第二凸轮从动件的两端并以所述基座为中心对称设置，两个所述第二剪叉机构均位于两个所述第一剪叉机构之间。
  3. 根据权利要求1所述的基于剪叉机构的远端中心运动机构，其特征在于：所述第一剪叉机构包括若干组第一剪叉组件，每个所述第一剪叉组件均包括两个交叉设置且可转动连接的第一转动副连接件，相邻的所述第一剪叉组件通过相邻的所述第一转动副连接件转动连接，位于所述第一剪叉机构上端的所述第一剪叉组件的所述第一转动副连接件与所述第一上转动副固定件转动连接，位于所述第一剪叉机构下端的所述第一剪叉组件的所述第一转动副连接件与所述第一下转动副固定件转动连接；
    所述第二剪叉机构包括若干组第二剪叉组件，各所述第二剪叉组件均包括两个交叉设置且可转动连接的第二转动副连接件，相邻的所述第二剪叉组件通过相邻的所述第二转动副连接件转动连接，位于所述第二剪叉机构上端的所述第二剪叉组件的所述第二转动副连 接件与所述第二上转动副固定件转动连接，位于所述第二剪叉机构下端的所述第二剪叉组件的所述第二转动副连接件与所述第二下转动副固定件转动连接。
  4. 根据权利要求3所述的基于剪叉机构的远端中心运动机构，其特征在于：所述第一剪叉组件还包括第一轴连接件，所述第一转动副连接件的中部开设有第一轴承槽，所述第一轴承槽内设有第一轴承，所述第一轴连接件设置于两个交叉设置的所述第一转动副连接件之间且两端分别穿过两个所述第一转动副连接件并与所述第一轴承槽内的所述第一轴承固定连接；
    所述第二剪叉组件还包括第二轴连接件，所述第二转动副连接件的中部开设有第二轴承槽，所述第二轴承槽内设有第二轴承，所述第二轴连接件设置于两个交叉设置的所述第二转动副连接件之间且两端分别穿过两个所述第二转动副连接件并与所述第二轴承槽内的所述第二轴承固定连接。
  5. 根据权利要求4所述的基于剪叉机构的远端中心运动机构，其特征在于：所述第一上转动副固定件包括第一上固定板、连接于所述第一上固定板上的第一上横轴和第一上竖轴，所述第一上横轴与所述第一上竖轴垂直设置，所述第一上横轴上连接有位于所述第一上固定板两侧的第一上连接板；所述第一上固定板与所述第一旋转轴固定连接，所述第一上连接板与位于所述第一剪叉机构上端的所述第一剪叉组件的所述第一转动副连接件转动连接，所述第一上竖轴的末端与相邻的所述第一轴连接件固定连接；
    所述第一下转动副固定件包括第一下固定板、连接于所述第一下固定板上的第一下横轴和第一下竖轴，所述第一下横轴与所述第一下竖轴垂直设置，所述第一下横轴上连接有位于所述第一下固定板两侧的第一下连接板；所述第一下固定板与所述第一转动轴转动连接，所述第一下连接板与位于所述第一剪叉机构下端的所述第一剪叉组件的所述第一转动副连接件转动连接，所述第一下竖轴的末端与相邻的所述第一轴连接件固定连接；
    所述第二上转动副固定件包括第二上固定板、连接于所述第二上固定板上的第二上横轴和第二上竖轴，所述第二上横轴与所述第二上竖轴垂直设置，所述第二上横轴上连接有位于所述第二上固定板两侧的第二上连接板；所述第二上固定板与所述第二旋转轴固定连接，所述第二上连接板与位于所述第二剪叉机构上端的所述第二剪叉组件的所述第二转动副连接件转动连接，所述第二上竖轴的末端与所述第二轴连接件固定连接；
    所述第二下转动副固定件包括第二下固定板、连接于所述第二下固定板上的第二下横轴和第二下竖轴，所述第二下横轴与所述第二下竖轴垂直设置，所述第二下横轴上连接有位于所述第二下固定板两侧的第二下连接板；所述第二下固定板与所述第二转动轴转动连接，所述第二下连接板与位于所述第二剪叉机构下端的所述第二剪叉组件的所述第二转动 副连接件转动连接，所述第二下竖轴的末端与相邻的所述第二轴连接件固定连接。
  6. 根据权利要求1～5任一项所述的基于剪叉机构的远端中心运动机构，其特征在于：所述第一上转动副固定件与所述第一旋转轴的连接点为O 11，所述第二上转动副固定件与所述第二旋转轴的连接点为O 12，所述第一下转动副固定件与所述第一转动轴的连接点为P 1，所述第二下转动副固定件与所述第二转动轴的连接点为P 2，O 11与P 1的连线平行于O 12与P 2的连线。
  7. 根据权利要求1～5任一项所述的基于剪叉机构的远端中心运动机构，其特征在于：所述第一凸轮从动件上连接有若干第一凸轮轴承，各所述第一凸轮轴承均位于所述第一凸轮槽内并能够沿所述第一凸轮槽移动；
    所述第二凸轮从动件上连接有若干第二凸轮轴承，各所述第二凸轮轴承均位于所述第二凸轮槽内并能够沿所述第二凸轮槽移动。
  8. 根据权利要求1～5任一项所述的基于剪叉机构的远端中心运动机构，其特征在于：所述驱动机构包括电机、第一同步带轮、第二同步带轮和同步带，所述电机安装于所述基座上，所述第一同步带轮与所述电机的主轴固定连接，所述第二同步带轮与所述第一旋转轴固定连接，所述同步带绕设连接于所述第一同步带轮与所述第二同步带轮之间。
  9. 根据权利要求1～5任一项所述的基于剪叉机构的远端中心运动机构，其特征在于：所述器械固定座包括器械固定杆和轴安装件，所述轴安装件与所述器械固定杆连接并呈垂直夹角，所述第一转动轴和所述第二转动轴均固定于所述轴安装件的侧部且均与所述器械固定杆平行设置。
  10. 根据权利要求1～5任一项所述的基于剪叉机构的远端中心运动机构，其特征在于：所述基座组件、所述剪叉机构组件和所述器械固定组件上均设有光学定位靶点。
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