WO2020114370A1 - Mécanisme de mouvement centralisé à distance basé sur un mécanisme de ciseaux - Google Patents

Mécanisme de mouvement centralisé à distance basé sur un mécanisme de ciseaux 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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PCT/CN2019/122557
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English (en)
Chinese (zh)
Inventor
何玉成
齐晓志
胡颖
韩雷
张朋
Original Assignee
中国科学院深圳先进技术研究院
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Publication of WO2020114370A1 publication Critical patent/WO2020114370A1/fr

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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, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets 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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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)

Abstract

La présente invention appartient au domaine technique des robots assistants chirurgicaux et concerne, en particulier, un mécanisme de mouvement centralisé à distance basé sur un mécanisme de ciseaux, comprenant un ensemble base, un ensemble mécanisme de ciseaux et un ensemble de fixation d'instruments. L'ensemble base comprend une base, un mécanisme d'entraînement, un premier arbre rotatif et un second arbre rotatif ; l'ensemble mécanisme de ciseaux comprend un premier mécanisme de ciseaux relié à un premier suiveur de came et un second mécanisme de ciseaux relié à un second suiveur de came ; l'ensemble de fixation d'instruments comprend une base de fixation d'instruments, un premier arbre rotatif et un second arbre rotatif disposés sur la base de fixation d'instruments. Le mécanisme de mouvement centralisé à distance de la présente invention agit sur la base du mécanisme de ciseaux rétractable, de telle sorte que l'ensemble du mécanisme de mouvement centralisé à distance peut être conçu pour présenter un volume moindre avec une amplitude de mouvement plus grande, et peut efficacement éviter le problème d'interférence des instruments chirurgicaux disposés sur la base de fixation d'instruments.
PCT/CN2019/122557 2018-12-03 2019-12-03 Mécanisme de mouvement centralisé à distance basé sur un mécanisme de ciseaux WO2020114370A1 (fr)

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CN201811466245.8A CN109512508B (zh) 2018-12-03 2018-12-03 基于剪叉机构的远端中心运动机构

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CN111870287B (zh) * 2020-07-29 2023-07-14 上海大学 一种可展收2r1t远程运动中心机构
CN113069209B (zh) * 2021-04-06 2023-02-21 天津大学医疗机器人与智能系统研究院 一种可展器械臂
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