CN101411632A - Robot active bracket for assisting minimally invasive surgical operation - Google Patents
Robot active bracket for assisting minimally invasive surgical operation Download PDFInfo
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- CN101411632A CN101411632A CNA2008101537174A CN200810153717A CN101411632A CN 101411632 A CN101411632 A CN 101411632A CN A2008101537174 A CNA2008101537174 A CN A2008101537174A CN 200810153717 A CN200810153717 A CN 200810153717A CN 101411632 A CN101411632 A CN 101411632A
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Abstract
The invention discloses a driving support for a robot used for aiding minimally invasive surgery, wherein a base part comprises a frame and an upright post; a connecting surface which is provided with an opening is arranged on one side of the upright post; the upright post is connected with a rectilinear motion module; a lead screw and a slide seat are connected to the rectilinear motion module; an adjusting frame part comprises an adjusting frame, a guide rail seat, a first sliding guide rail which is connected to the guide rail seat, and a slider; the lower part of the guide rail seat is provided with a three-step lug boss; a bearing structure and the adjusting frame are sleeved on the central lug boss in turn; one end of the adjusting frame is inserted into the opening of the connecting surface; a beam part comprises a beam; one side of the beam is connected with the slide seat, and an input wheel and an output wheel the upper part of which is provided with a cylindrical lug boss are arranged on the other side of the beam; the first slider is fastened and fixedly connected with the input wheel; a telescopic body part comprises a telescopic seat; the bottom of the telescopic seat is provided with a hole; and the cylindrical lug boss is inserted into the hole at the bottom of the telescopic seat. The driving support guarantees the motion precision, the system rigidity and the safety of the robot.
Description
Technical field
The present invention relates to the armarium in a kind of micro-wound surgical operation field, it can the assisted surgery doctor implement the Minimally Invasive Surgery operation, relates in particular to a kind of robot active bracket of assisted minimally invasive surgical operation of the Minimally Invasive Surgery operation that is suitable for thoracic cavity and abdominal cavity.
Background technology
Be that the minimally invasive surgery of representative is described as 20th century medical sciencies to one of significant contribution of human civilization with the peritoneoscope, the Minimally Invasive Surgery operation is meant that the doctor utilizes the miniature incision of elongated operation tool by human body surface to be insinuated into the operation that undergos surgery in the body.It is compared with traditional open surgery has advantages such as operative incision is little, amount of bleeding is few, scar after the operation is little, recovery time is fast, and this misery that makes patient suffer significantly reduces; Therefore minimally invasive surgery is widely used in clinical operation.Yet when Minimally Invasive Surgery had brought many interests for patient, but the operation to the doctor had brought a series of difficulties, as: 1) owing to the restriction of body surface aperture, the degree of freedom of instrument is reduced to four, and motility reduces greatly; 2) doctor's direction of operating is opposite with desired direction, inaccurate coordination; 3) doctor can only obtain surgical scene information by the two dimensional image on the monitor, lacks the sensation on the depth direction; 4) shake of doctor's hand may be amplified by elongated operation tool, and operation is caused harmful effect; 5) lack force feeling.Therefore, the doctor must have been trained for a long time and can carry out the Minimally Invasive Surgery operation, and even so, Minimally Invasive Surgery also only is applied among the relatively simple operation process of operation at present.Therefore, in the Minimally Invasive Surgery field, press for the ability that a kind of robot system is extended the doctor,, make the doctor can easierly finish the Minimally Invasive Surgery operation so that overcome above-mentioned shortcoming.At present, the minimally invasive surgical operation robot system that can use clinically has only Da Vinci system and Zeus system, but the shortcoming of aspect such as that they all have is bulky, cost an arm and a leg.All carried out the research of minimally invasive surgical operation robot in the world in succession as the U.S., France, Germany, Britain, Poland, Japan, Korea S and other places, and a series of model machines have been produced, but these model machines are mostly identical with the mechanism that has existed or similar, lack novelty.China still is in the starting stage aspect robotic assisted surgery, the robot system that has existed can only play assist location in operation process, can not be applied to clinical operation.Therefore develop the novel minimally invasive surgical operation robot system that a cover has independent intellectual property right and very important meaning is arranged filling up the blank of China in this field.
At present, robot is used for the active bracket of clamping operation tool and realizes that partly the mode that the Minimally Invasive Surgery operation requires mainly contains three kinds: 1) interlock of control joint realizes, after this mode is improved by traditional industrial robot is correlated with, operation tool is installed is carried out the Minimally Invasive Surgery operation, can shorten the construction cycle of robot.Yet the safety of this mode is relatively poor, only is used in the feasibility of some principle of checking in the laboratory at present.2) add passive joint, the advantage of this mode is the change in location that elongated operation tool can adapt to point of penetration automatically, is considered to safest a kind of mode.Yet the tissue in the operation process around the body surface otch can be subjected to the active force that operation tool transmits, and control accuracy is also relatively poor.3) constraint of mechanism itself, this mode are can the clamping operation tool to realize around the special machine robot mechanism of body surface otch motion by developing some, arc-shaped guide rail and the two parallel-crank mechanisms of mainly containing commonly used.It is big that the robot system of the method exploitation of employing arc-shaped guide rail takies volume, the defective of aspects such as motion coupling; Two parallel-crank mechanisms have the advantage of aspects such as structure is simplified, volume is little, in light weight, are a kind of modes that is most widely used at present, and the DaVinci system of extensive use clinically adopts this mode to realize.Yet it has but proposed very high requirement to the processing and the assembling process of system, because each connecting rod precision in the longitudinal direction of parallelogram is difficult to assurance, has therefore influenced the kinematic accuracy and the rigidity of robot greatly.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of kinematic accuracy that can guarantee robot and system stiffness, safety, simple in structure, volume is little, lightweight a kind of robot active bracket that is used for assisted minimally invasive surgical operation.
A kind of robot active bracket that is used for assisted minimally invasive surgical operation, it comprises base part, the adjustment rack part, header portion, the extrusome part, described base part comprises frame, the column that is rotatedly connected by bearing with described frame, one end of described column passes through shaft coupling, decelerator links to each other with first servomotor, be provided with in a side of described column and open foraminous joint face on it, the axis of the axis in described hole and the rotating shaft of described column intersects vertically in horizontal plane, the end face of described column links to each other with the bottom surface of a rectilinear motion module, on described rectilinear motion module, be connected with leading screw, slide carriage structure, an end of described leading screw links to each other with second servomotor; Described adjustment rack partly comprises in the one end and has shoulder hole, be with the adjustment rack of flange arrangement on the other end, track base, be connected first rail plate on the described track base, first slide block structure, the bottom of described track base is provided with one three ladder boss, the top boss of described ladder boss is provided with external screw thread, and on the boss of the middle part of described ladder boss, be with the bearing arrangement of interference fit with it, locking nut is enclosed within on the described external screw thread, one side outer ring of described bearing arrangement, the inner ring end face respectively with internal circlip, the first ladder end face phase compression fit and its opposite side outer ring of described ladder boss, the inner ring end face respectively with described locking nut, the ladder end face phase compression fit of described shoulder hole, the shoulder hole of described adjustment rack is enclosed within and is interference fit on the described bearing arrangement and with it, described check ring is embedded in the hole of described adjustment rack, and the other end of described adjustment rack is inserted in the perforate of described joint face and by described flange arrangement and is fixedly linked with it; Described header portion comprises that a side of crossbeam, described crossbeam links to each other with described slide and on its another side the output wheel of opening slotted wheel for inputting on it, having cylinder boss on it is installed, be rotatably assorted by first drive mechanism between described wheel for inputting and the output wheel, described first slide block tightens fixedly connected with groove on the described wheel for inputting mutually; Described extrusome partly comprises flexible seat, on the described flexible seat second rail plate that it is provided with second slide block is housed, the operation tool seat that described second slide block and one are equipped with operation tool on it is fixedly linked, described second slide block and second rail plate can be slidingly fitted by first drive systems, have the hole in described flexible seat bottom, described cylinder boss is inserted in the perforate of described flexible seat bottom and with it and is fixedly linked, in described flexible seat bottom the supplemental support that is used to support operation tool is housed, the through hole of described operation tool by this supplemental support, and be with it and be slidingly matched.
The present invention is used for the assisted minimally invasive surgical operation robot active bracket and compared with prior art has following beneficial effect:
1, the present invention has the advantage of the two parallel-crank mechanisms that have been applied, but overcome two parallel-crank mechanisms process and assemble is required harsh this shortcoming, thereby helps guaranteeing the kinematic accuracy and the system stiffness of robot.
2. the present invention realizes the requirement that point of penetration retrains in the minimal invasive surgical procedures by the constraint of mechanism self, does not introduce redundant degree of freedom, has guaranteed the safety of using.
The present invention by the form that adopts the silk transmission make mechanism have simple in structure, volume is little, advantage such as in light weight.
4. application of the present invention is the Minimally Invasive Surgery towards the splanchnocoel field, the potentiality that the operation in fields such as oriented other field such as otorhinolaryngology is expanded.
5. the present invention carries operation tool by long beam texture and is insinuated into the patient body top from afar and carries out the Minimally Invasive Surgery operation, this structure can be saved the space that robot takies the patient body top greatly, for the doctor can provide convenience near patient fast.
6. the present invention can the multiple supporting operation tool of more enough quick replacings, can fully satisfy Minimally Invasive Surgery and operate multifarious requirement.
7. the present invention can operate by the auxiliary Minimally Invasive Surgery of clamping endoscope, can free from dull, tired holding the mirror work holding the mirror doctor.
Description of drawings
Fig. 1 is the robot active bracket overall structure sketch map that the present invention is used for assisted minimally invasive surgical operation;
Fig. 2 is the decomposing schematic representation of each ingredient of device shown in Figure 1;
Fig. 3 is the principle schematic that apparatus of the present invention satisfy the Minimally Invasive Surgery operational requirements;
Fig. 4 is the structural representation of the base part of the present invention's device shown in Figure 1;
Fig. 5-the 1st, the overall pattern of the adjustment rack part of the device that the present invention is shown in Figure 1;
Fig. 5-the 2nd, the installation schematic diagram of the track base of the device shown in Fig. 5-1 and adjustment rack;
Fig. 6 is the structural representation of the header portion of device shown in Figure 1;
Fig. 7 is the structural representation of the extrusome part of device shown in Figure 1;
Fig. 7-the 1st, device shown in Figure 7 with movable wire tube combinative structure sketch map;
Fig. 7-the 2nd, the active silk tube combinative structure sketch map of device shown in Figure 7;
But the structural representation of a kind of embodiment of the operation tool seat of the clamping operation tool that Fig. 8 is the present invention to be adopted.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done to describe in detail.
Below in conjunction with the specific embodiment assisted minimally invasive surgical operation robot active bracket of the present invention is made a detailed description.
Fig. 1, Fig. 2, Figure 3 shows that population structure sketch map of the present invention, illustrated R, P1, P2 describe is three joints initiatively of the present invention, and wherein R is a cradle head, and P1, P2 are linear joint.What illustrated Rs1, Rs2, Rs3, Ps described is of the present invention with movable joint, and wherein Rs1, Rs2, Rs3 are the servo-actuated cradle head, and Ps is the servo-actuated linear joint; Each initiatively joint, will in the content of back, introduce in detail with movable joint.What Fig. 2 described is each ingredient of the present invention, comprises base part 1, adjustment rack part 2, header portion 3, extrusome part 4; Figure 3 shows that the present invention realizes the principle of Minimally Invasive Surgery operational requirements.Find out easily, under the physical constraint of self structure, robot axis of extrusome in motor process is that the axis of operation tool passes through a fixing point P all the time, this point should be arranged in patient's body surface incision in the actual operation process, and the NP line is the rotation axis of cradle head R.The condition that P point position does not change be with the axis of movable joint Rs1 and with the axis of movable joint Rs2 along the distance on the z direction of principal axis shown in Figure 1 and with the axis of movable joint Rs3 and the equal in length of the common vertical line between the axis of joint R initiatively, the ratio of silk transmission is 1 between wheel for inputting and the output wheel, when mechanism is in initial position, the axis of cradle head R is parallel with the direction of motion of P1, and vertical with P2.
A kind of robot active bracket that is used for assisted minimally invasive surgical operation, it comprises base part 1, adjustment rack part 2, header portion 3, extrusome part 4, described base part 1 comprises frame 1-3, the column 1-2 that is rotatedly connected by bearing with described frame 1-3, the end of described column 1-2 passes through shaft coupling, decelerator links to each other with the first servomotor 1-4, be provided with in the side of described column 1-2 and open foraminous joint face 1-21 on it, the axis of the axis in described hole and the rotating shaft of described column intersects vertically in horizontal plane, the end face of described column 1-2 links to each other with the bottom surface of a rectilinear motion module 1-1, on described rectilinear motion module 1-1, be connected with leading screw, slide 1-12 structure, an end of described leading screw links to each other with the second servomotor 1-5; Described adjustment rack part 2 comprises in the one end and has shoulder hole, be with the adjustment rack 2-8 of flange arrangement on the other end, track base 2-1, be connected the first rail plate 2-2 on the described track base 2-1, the first slide block 2-3 structure, the bottom of described track base 2-1 is provided with one three ladder boss, the top boss of described ladder boss is provided with external screw thread, and on the boss of the middle part of described ladder boss, be with the bearing arrangement of interference fit with it, locking nut 2-7 is enclosed within on the described screw thread, one side outer ring of described bearing arrangement, the inner ring end face respectively with internal circlip, the first ladder end face phase compression fit and its opposite side outer ring of described ladder boss, the inner ring end face respectively with described locking nut, the ladder end face phase compression fit of described shoulder hole, the borehole jack of described adjustment rack is interference fit on described bearing arrangement and with it, described check ring 2-4 is embedded in the hole of described adjustment rack, and the described adjustment rack 2-8 other end is inserted in the perforate of described joint face 1-21 and by described flange arrangement and is fixedly linked with it.Described header portion 3 comprises that the side of crossbeam 3-1, described crossbeam 3-1 links to each other with described slide 1-12, open the output wheel 3-6 that has cylinder boss on slotted wheel for inputting 3-2 and its on it and be installed on the two ends of the opposite side of crossbeam 3-1 by bearing, be rotatably assorted by first drive mechanism between described wheel for inputting 3-2 and the output wheel 3-6, the described first slide block 2-3 tightens fixedly connected with groove on the described wheel for inputting 3-2 mutually; Described extrusome part 4 comprises flexible seat 4-1, on the described flexible seat 4-1 the second rail plate 4-3 that it is provided with the second slide block 4-4 is housed, the operation tool seat 5-1 that the described second slide block 4-4 and one are equipped with operation tool 5-2 on it is fixedly linked, the described second slide block 4-4 and the second rail plate 4-3 can be slidingly fitted by first drive systems, have the hole in described flexible seat 4-1 bottom, described second cylinder boss is inserted in the perforate of described flexible seat bottom and with it and is fixedly linked, in described flexible seat 4-1 bottom the supplemental support 4-6 that is used to support operation tool is housed, the operation tool 5-2 of elongate passes the through hole of this supplemental support, and be with it and be slidingly matched, make the motion of described operation tool 5-2 more steady.
Described first drive mechanism can comprise the regulating wheel 3-3 that is installed on the crossbeam between described wheel for inputting and the output wheel, be respectively arranged with groove on described wheel for inputting and the output wheel, first and second driving wire 3-4, a 3-5 are fixed on described input, the output wheel by the silk end briquetting 3-7 that is arranged on described input, the output wheel respectively by the groove on described regulating wheel, input, the output wheel and its end respectively.The gear ratio of silk transmission is 1, and wheel for inputting and output wheel can be synchronized with the movement under the effect of driving wire in the same way.
Described first drive mechanism can also comprise the idler gear that is arranged between described input, the output wheel, described input, output wheel are gear, described wheel for inputting, output wheel and idler gear adopt gear drive or described first drive mechanism to comprise parallel bar, and described wheel for inputting and output wheel and described first drive mechanism constitute parallel-crank mechanism.
Described first drive system can comprise respectively by bearing and is installed in described flexible seat 4-1 top, the servo-actuated of bottom, active ball spline shaft 4-8,4-11, in described servo-actuated, active ball spline shaft 4-8, be with servo-actuated on the 4-11, active spline urceolus 4-9,4-14, described servo-actuated, active spline urceolus 4-9,4-14 is respectively by key 4-10,4-13 and servo-actuated, active silk tube 4-7,4-12 is fixedly linked, the side shaft end of described active splined shaft 4-11 passes through shaft coupling, decelerator links to each other with the 3rd servomotor 4-2, on described operation tool seat 5-1, two eccentric 5-4 are installed, 5-5 and silk briquetting 5-3,5-6, one the 3rd driving wire 4-5 is by described each tube, eccentric and its terminal 4-5e1,4-5e2 is fixed on the described operation tool seat 5-1 by described silk briquetting.
Described first drive system can also be for servomotor-leading screw-guide rail structure or for reversing motor-leading screw-guide rail structure.Described first drive system can or be an air cylinder structure for hydraulic cylinder structure also.
Described bearing arrangement comprises clutch shaft bearing 2-5, pad 2-6, the second bearing 2-5 on the middle part boss that is enclosed within described three ladder boss successively, described check ring 2-4 compresses the outer ring of clutch shaft bearing 2-5, and in the embedded hole that is fixed on adjustment rack 2-8, the side of the described second bearing 2-5 is pressed on the side of described locking nut.
Be illustrated below in conjunction with 4-9 pairs of preferred implementation processes of the present invention of accompanying drawing:
The structural representation of base part is by shown in Figure 4, column 1-2 by bearings on frame 1-3, the first servomotor 1-4 is fixed on the frame 1-3 by reducer pedestal, column 1-2 can be around axis NP rotation under the driving of servomotor 1-4, and this part is an active rotation joint R of this mechanism.Rectilinear motion module 1-1 is fixedly connected on the top of column 1-2, leading screw in the rectilinear motion module 1-1 can rotate under the driving of the second servomotor 1-5 that is installed on rectilinear motion module 1-1 one end, and then drive the move along a straight line slide rail of module 1-1 of slide 1-12 and slide, this part is an active linear joint P1 of this mechanism.Be provided with the joint face 1-21 that matches with adjustment rack 2-8 in the adjustment rack part 2 in the side of column 1-2, joint face 1-21 is made up of two mating surfaces on hole on the circumferencial direction and the end face direction, on the end face mating surface, be distributed with screwed hole, will link to each other with the screw on being installed on adjustment rack 2-8; The rotation axis of the axis in hole and cradle head R planar intersects vertically on the circumferencial direction.Frame 1-3 will link to each other with the passive adjustment arm of operating robot, during use passive adjustment arm can adopt patent (application number: structure 200610129845.6), perhaps adopt other existing structures, this partial content does not belong to category of the present invention.
The structural representation of adjustment rack part is shown in Fig. 5-1 and 5-2, and wherein Fig. 5-1 is the overall pattern of adjustment rack part 2, and Fig. 5-2 is the installation schematic diagram of track base 2-1 and adjustment rack 2-8.Be provided with link to each other with joint face 1-21 on the column 1-2 first required cylinder boss and end face mating surface in the side of adjustment rack 2-8, the required screw that links to each other with screw on the joint face 1-21 is being housed on the flange of adjustment rack 2-8.The bottom that the track base 2-1 of the first rail plate 2-2 is installed is provided with three ladder boss, be processed with external screw thread on the top boss of ladder boss, and link to each other with the opposite side of adjustment rack 2-8 by internal circlip 2-4, bearing 2-5, pad 2-6 and stripped nut 2-7 etc.The first slide block 2-3 supporting with the first rail plate 2-2 will link to each other with the wheel for inputting 3-2 of header portion 3.This part is integrated of the present invention two with movable joint, be respectively track base 2-1 around the rotatablely moving of adjustment rack 2-8, i.e. Rs2 among Fig. 1; Slide block 2-3 is at the rectilinear motion of rail plate 2-2, i.e. Ps among Fig. 1.
The structural representation of header portion as shown in Figure 6, crossbeam 3-1 links to each other with slide 1-12 in the base part 1 by screw.Wheel for inputting 3-2 and output wheel 3-6 are installed on the two ends of crossbeam 3-1 respectively by bearing; Two driving wire 3-4,3-5 are parallel is connecting wheel for inputting 3-2 and output wheel 3-6, and silk two ends are individually fixed on wheel for inputting 3-2 and the output wheel 3-6 by silk end briquetting 3-7, and the gear ratio of silk transmission is 1.Can carry out tensioning to driving wire 3-4,3-5 by regular rotation regulating wheel 3-3, to guarantee the precision of silk transmission.Wheel for inputting 3-2 is provided with fixedlys connected required mating groove and via hole with the first slide block 2-3 in the adjustment rack part 2.On output wheel 3-6, be provided with link to each other with flexible seat 4-1 in the extrusome part 4 required cylinder boss and screwed hole.This part is integrated of the present invention in addition two with movable joint, be respectively wheel for inputting 3-2 and the rotation of output wheel 3-6 on crossbeam 3-1, i.e. Rs1 among Fig. 1 and Rs3.The effect and the parallelogram sturcutre of the silk transmission of being adopted between wheel for inputting 3-2 and the output wheel 3-6 are similar; Compare with parallelogram sturcutre, reduced the difficulty of processing and manufacturing, and help increasing the rigidity of mechanism, and volume that to a certain extent can reducing mechanism.
The structural representation of extrusome part is shown in Fig. 7, Fig. 7-1,7-2; Flexible seat 4-1 can be fixedly linked by the output wheel 3-6 in screw and the header portion 3.On flexible seat 4-1, the second rail plate 4-3 is installed, the second supporting slide block 4-4 is housed on it, the operation tool seat 5-1 that is used for the clamping operation tool is installed on the second slide block 4-4.Be equipped with the combination of movable wire tube at a flexible seat 4-1 top, this combination is by servo-actuated ball spline shaft 4-8, with the supporting servo-actuated spline urceolus 4-9 of servo-actuated ball spline shaft 4-8, by servo-actuated key 4-10 and forming with movable wire tube 4-7 that servo-actuated spline urceolus 4-9 links to each other; Should make up by bearings on flexible seat 4-1 with the movable wire tube; The combination of driving silk tube is installed in flexible seat bottom, and this makes up with identical with movable wire tube principle; Shown in Fig. 7-1, the 3rd servomotor 4-2 drives active ball spline shaft 4-11 rotation by decelerator, shaft coupling successively, and active silk tube 4-12 passes through key 4-13 and links to each other with the supporting active spline urceolus 4-14 of active ball spline shaft 4-11.On a silk 4-7 who makes up with combination of movable wire tube and driving silk tube and 4-12 the 3rd driving wire 4-5 is housed, its two ends 4-5e1 will link to each other with operation tool seat 5-1 with 4-5e2.Because ball spline does not have constraint vertically, therefore in motor process, the 3rd driving wire 4-5 can adjust automatically and make it arrive suitable axial location.Driving silk tube makes up, has constituted with the combination of movable wire tube, the 3rd driving wire and operation tool seat another active linear joint P2 of this mechanism.End at flexible seat 4-1 also is equipped with supplemental support 4-6, and elongated operation tool 5-2 and the through hole of supplemental support 4-6 are and are slidingly matched, and it is more steady, accurate that it is moved in motor process.
What Fig. 8 described is the rough schematic of operation tool seat, operation tool seat 5-1 is fixed on the second slide block 4-4, after the two ends 4-5e1 of the 3rd driving wire 4-5 and 4-5e2 walk around two eccentric 5-5 and 5-4 respectively, be individually fixed on the operation tool seat 5-1 by two silk briquetting 5-6 and 5-3, can carry out tensioning to driving wire 4-5 by rotating eccentricity wheel 5-5 and 5-4.Operation tool 5-2 is installed on the operation tool seat 5-1, and the detailed design of operation tool seat 5-1 and operation tool can referenced patent (application number: 200710056701.7), do not belong to category of the present invention.
The action implementation process of multi-freedom micro-mechanical arm for minimally invasive operation of the present invention will be described below.
1. three-degree-of-freedom motion:
Assisted minimally invasive surgical operation robot active bracket of the present invention is by the mutual transmission between each joint, realize three motions of operation tool, as Fig. 1, shown in Figure 3, be respectively: around swing and operation tool the moving on extrusome of a P point on the both direction of space.
Operation tool is realized on the base part of robot along the swing of NP axis, by the rotation of motor-driven column, and then drives the rotation of entire machine people around the NP axis.The axis of another deflection of operation tool for by the some P and with the vertical straight line of paper direction, operation tool is by the rotation of the leading screw in the motor-driven module that is installed on the rectilinear motion module around the rotation of this axis, and drives the header portion moving linearly by slide; The wheel for inputting of header portion deflects under the constraint of adjustment rack part, and this deflection is passed to output wheel by the silk transmission, and then driving the deflection of extrusome part, this motion combines with the rectilinear motion of header portion and makes operation tool pass through a some P all the time in motor process.The condition that this motion of operation tool realizes be with the axis of movable joint Rs1 with the axis of movable joint Rs2 along the axial distance of z and with the axis of movable joint Rs3 and the common vertical line equal in length between the axis of joint R initiatively, and the gear ratio of a transmission between wheel for inputting and the output wheel is 1.The motion of operation tool on extrusome is to draw driving wire by motor, and it is reciprocating along rail plate to drive the operation tool seat that is installed on the extrusome slide block, and this motion is also by fixing point p.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in the accompanying drawing is one of embodiments of the present invention also, and practical structure is not limited thereto.So; if those skilled in the art is enlightened by it; under the situation that does not break away from the invention aim; the transmission, driving device and the connected mode that adopt other form all should belong to protection scope of the present invention without creationary design frame mode and the embodiment similar to this technical scheme.
Claims (7)
1. robot active bracket that is used for assisted minimally invasive surgical operation, it is characterized in that: it comprises base part, the adjustment rack part, header portion, the extrusome part, described base part comprises frame, the column that is rotatedly connected by bearing with described frame, one end of described column passes through shaft coupling, decelerator links to each other with first servomotor, be provided with in a side of described column and open foraminous joint face on it, the axis of the axis in described hole and the rotating shaft of described column intersects vertically in horizontal plane, the end face of described column links to each other with the bottom surface of a rectilinear motion module, on described rectilinear motion module, be connected with leading screw, slide carriage structure, an end of described leading screw links to each other with second servomotor; Described adjustment rack partly comprises in the one end and has shoulder hole, be with the adjustment rack of flange arrangement on the other end, track base, be connected first rail plate on the described track base, first slide block structure, the bottom of described track base is provided with one three ladder boss, the top boss of described ladder boss is provided with external screw thread, and on the boss of the middle part of described ladder boss, be with the bearing arrangement of interference fit with it, locking nut is enclosed within on the described external screw thread, one side outer ring of described bearing arrangement, the inner ring end face respectively with internal circlip, the first ladder end face phase compression fit and its opposite side outer ring of described ladder boss, the inner ring end face respectively with described locking nut, the ladder end face phase compression fit of described shoulder hole, the shoulder hole of described adjustment rack is enclosed within and is interference fit on the described bearing arrangement and with it, described check ring is embedded in the hole of described adjustment rack, and the other end of described adjustment rack is inserted in the perforate of described joint face and by described flange arrangement and is fixedly linked with it; Described header portion comprises that a side of crossbeam, described crossbeam links to each other with described slide and on its another side the output wheel of opening slotted wheel for inputting on it, having cylinder boss on it is installed, be rotatably assorted by first drive mechanism between described wheel for inputting and the output wheel, described first slide block tightens fixedly connected with groove on the described wheel for inputting mutually; Described extrusome partly comprises flexible seat, on the described flexible seat second rail plate that it is provided with second slide block is housed, the operation tool seat that described second slide block and one are equipped with operation tool on it is fixedly linked, described second slide block and second rail plate can be slidingly fitted by first drive systems, have the hole in described flexible seat bottom, described cylinder boss is inserted in the perforate of described flexible seat bottom and with it and is fixedly linked, in described flexible seat bottom the supplemental support that is used to support operation tool is housed, the through hole of described operation tool by this supplemental support, and be with it and be slidingly matched.
2. the robot active bracket that is used for assisted minimally invasive surgical operation according to claim 1, it is characterized in that: described first drive mechanism comprises the regulating wheel that is installed on the crossbeam between described wheel for inputting and the output wheel, be respectively arranged with groove on described wheel for inputting and the output wheel, first and second driving wire is fixed on described input, the output wheel by the silk end briquetting that is arranged on described input, the output wheel respectively by the groove on described regulating wheel, input, the output wheel and its end respectively, and the gear ratio of described silk transmission is 1.
3. the robot active bracket that is used for assisted minimally invasive surgical operation according to claim 1, it is characterized in that: described first drive mechanism comprises the idler gear that is arranged between described input, the output wheel, described input, output wheel are gear, described wheel for inputting, output wheel and idler gear adopt gear drive or described first drive mechanism to comprise parallel bar, and described wheel for inputting and output wheel and described first drive mechanism constitute parallel-crank mechanism.
4. the robot active bracket that is used for assisted minimally invasive surgical operation according to claim 1, it is characterized in that: described first drive system comprises respectively by bearing and is installed in described flexible seat top, the servo-actuated of bottom, the active ball spline shaft, in described servo-actuated, initiatively be with servo-actuated on the ball spline shaft, active spline urceolus, described servo-actuated, initiatively the spline urceolus is respectively by key and servo-actuated, initiatively the silk tube is fixedly linked, one side shaft end of a described splined shaft passes through shaft coupling, decelerator links to each other with the 3rd servomotor, two eccentrics and silk briquetting are installed on described operation tool seat, and one the 3rd driving wire is respectively by described each tube, eccentric and its end are fixed on the described operation tool seat by described silk briquetting.
5. the robot active bracket that is used for assisted minimally invasive surgical operation according to claim 1 is characterized in that: described first drive system is servomotor-leading screw-guide rail structure or for reversing motor-leading screw-guide rail structure.
6. the robot active bracket that is used for assisted minimally invasive surgical operation according to claim 1 is characterized in that: described first drive system is hydraulic cylinder structure or is air cylinder structure.
7. the robot active bracket that is used for assisted minimally invasive surgical operation according to claim 1, it is characterized in that: described bearing arrangement comprises clutch shaft bearing, pad, second bearing on the middle part boss that is enclosed within described three ladder boss successively, described check ring compresses the cycle surface of described clutch shaft bearing, and be embedded in the hole of adjustment rack, a side of described second bearing is pressed on the side of described locking nut.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101537174A CN101411632B (en) | 2008-12-03 | 2008-12-03 | Robot active bracket for assisting minimally invasive surgical operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101537174A CN101411632B (en) | 2008-12-03 | 2008-12-03 | Robot active bracket for assisting minimally invasive surgical operation |
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| CN101411632A true CN101411632A (en) | 2009-04-22 |
| CN101411632B CN101411632B (en) | 2010-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2008101537174A Active CN101411632B (en) | 2008-12-03 | 2008-12-03 | Robot active bracket for assisting minimally invasive surgical operation |
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| CN (1) | CN101411632B (en) |
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| CN102058433A (en) * | 2010-12-15 | 2011-05-18 | 天津大学 | Motion input device for robot-assisted minimally invasive surgery |
| CN101703423B (en) * | 2009-11-03 | 2011-06-22 | 昆山市工业技术研究院有限责任公司 | Surgical operation-assisting electrical locking bracket |
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| CN102697564A (en) * | 2012-06-20 | 2012-10-03 | 哈尔滨工业大学 | Flexible-arm robot for single-pore laparoscopic minimally-invasive operation |
| CN102697564B (en) * | 2012-06-20 | 2014-04-23 | 哈尔滨工业大学 | Flexible-arm robot for single-pore laparoscopic minimally-invasive operation |
| CN103465249A (en) * | 2013-09-06 | 2013-12-25 | 苏州凯欧机械科技有限公司 | Subminiature positioning table for micro manipulator |
| CN104626162A (en) * | 2013-11-13 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Fuzzy control system and realization method thereof for medical robot |
| CN104626162B (en) * | 2013-11-13 | 2017-03-08 | 沈阳新松机器人自动化股份有限公司 | A kind of Fuzzy control system for medical robot and its implementation |
| CN105361951B (en) * | 2015-12-14 | 2017-11-14 | 山东科技大学 | A kind of minimally invasive abdominal operation Chi Jing robots |
| CN105361951A (en) * | 2015-12-14 | 2016-03-02 | 山东科技大学 | Endoscope-holding robot for minimally invasive abdominal operation |
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| CN107661126A (en) * | 2016-07-27 | 2018-02-06 | 沃卡尔有限公司 | Stabilisation and operation for the induction system of percutaneous surgery |
| CN107661126B (en) * | 2016-07-27 | 2021-10-12 | 沃卡尔有限公司 | Stabilization and operation of delivery systems for percutaneous surgery |
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| US20210212779A1 (en) * | 2018-09-30 | 2021-07-15 | Nanjing Tuge Healthcare Co.,Ltd. | Surgical robot based on ball-and-socket joint and tactile feedback and control device thereof |
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Effective date of registration: 20220915 Address after: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee after: Tianjin University Patentee after: Tianjin University Asset Management Co.,Ltd. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University Effective date of registration: 20220915 Address after: 264211 no.566-1 Qishan Road, caomiaozi Town, Lingang Economic and Technological Development Zone, Weihai City, Shandong Province Patentee after: SHANDONG WEIGAO OPERATION ROBOT CO.,LTD. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University Patentee before: Tianjin University Asset Management Co.,Ltd. |
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