CN101773401A - Surgical operation robot multiple degree of freedom finger - Google Patents
Surgical operation robot multiple degree of freedom finger Download PDFInfo
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- CN101773401A CN101773401A CN201010032427A CN201010032427A CN101773401A CN 101773401 A CN101773401 A CN 101773401A CN 201010032427 A CN201010032427 A CN 201010032427A CN 201010032427 A CN201010032427 A CN 201010032427A CN 101773401 A CN101773401 A CN 101773401A
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- motor
- rotating machine
- electric rotating
- surgical operation
- operation robot
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Abstract
The invention provides a surgical operation robot multiple degree of freedom (MDOF) finger. The finger is composed of a fingertip clamping mechanism, a joint driving mechanism and a rotating joint; the fingertip clamping mechanism is composed of two fingertips, two transmission ropes, a connection shaft and a long casing pipe, and the fingertips are provided with pulley grooves; the joint driving mechanism comprises a support bracket, the front end of the support bracket is connected with the fingertip clamping mechanism, the back end of the support bracket is provided with a stepped shaft, the support bracket is provided with two drive motors, the shaft of each drive motor is mounted with a driving wheel, and the transmission ropes of the fingertip clamping mechanism are winded on the driving wheels to drive the pulley grooves on the fingertips; and the rotating joint comprises a motor jacket and a rotating motor mounted in the motor jacket, the stepped shaft of the support bracket in the joint driving mechanism is arranged in the motor jacket via the bearing arranged on the stepped shaft and is connected with the shaft of the rotating motor to transmit torque. The invention has the characteristics of capability of pitching, autorotation, and clamping DOF, good flexibility, small surgical orifice and remarkable alleviation on pain of patients.
Description
(1) technical field
What the present invention relates to is the armarium that a kind of surgical operation is used, specifically a kind of surgical operation robot finger.
(2) background technology
Surgical operation robot has substantially exceeded the surgeon on accuracy, reliability and the accuracy of operation, can overcome the surgeon because the trembling of hands, and unfavorable factors such as fatigue are finished operation preferably.Finger part is one of surgical operation robot important components, can well finish surgical action in each in the operative space.Shortcomings such as the finger of at present a lot of surgical operation robots exists chucking power little, and terminal degree of freedom is few.Thereby to the operation operation bring very big influence.Though the micro-wound surgical operation that patent 200810064718.1 is introduced has easy to operate with the manual operation hands, characteristics such as flexibly, but it adopts manually operated mode, thereby the automation of operation degree is not high, so the researchs that need how automaticity high surgical robot is freely pointed are very necessary.
(3) summary of the invention
The object of the invention is to provide a kind of multiple degrees of freedoms such as pitching, rotation, clamping that have, easy operating, and surgical openings is less, automaticity high surgical robot multiple degree of freedom finger.
The objective of the invention is to realize like this: mainly be to constitute by fingertip clamping mechanism, joint driving mechanism, rotary joint; It is characterized in that: fingertip clamping mechanism is made up of two finger tips, two transmission ropes, connecting axle, long sleeve pipes, and two finger tips are connected to long sleeve pipe by connecting axle, has two transmission ropes of race on the finger tip and is enclosed within respectively on two races on the finger tip; Described joint driving mechanism comprises bracing frame, the front end of bracing frame is connected with fingertip clamping mechanism, the rear end of bracing frame has multidiameter, two drive motors are installed on the bracing frame, on the axle of each drive motors driving wheel is installed all, the transmission rope of fingertip clamping mechanism is enclosed within the race that drives on the driving wheel on the finger tip; Described rotary joint comprises the motor cover, be installed in the electric rotating machine in the motor cover, and the multidiameter of the bracing frame in the joint driving mechanism places the motor cover and transmits moment of torsion with spool being connected of electric rotating machine by the bearing that is provided with it on.
The present invention can also comprise some architectural features like this:
1, long sleeve pipe is provided with locating piece, and the front end of bracing frame has installation sleeve, has gathering sill on the installation sleeve, and locating piece is positioned in the gathering sill by two adjusting nuts.
2, be provided with elastic ring in the motor cover, there is T type fast interface motor cover rear end.
3, described drive motors is cemented on the motor plate, and motor plate is fixed on the bracing frame again.
4, described drive motors is cemented on the motor plate, and motor plate is fixed on the bracing frame again.
Bracing frame of the present invention is provided with two nuts, adopts these two nuts to regulate the position of locating piece in gathering sill in the fingertip clamping mechanism, and then the pretension transmission rope; And, be easy to realize the dismounting of pointing by regulating these two nuts.
The present invention has following beneficial effect:
1, the present invention has crooked degree of freedom, can the certain angle of pitching.
2, terminal operation actuator of the present invention can realize that surgical openings is controlled in the 6mm, thereby alleviates patient's misery greatly.
3, the present invention can pass through nut 2-8, nut 2-9, regulates the position of locating piece 1-7 in gathering sill 2-10 in the fingertip clamping mechanism 1, and then can pretension transmission rope 1-3 and transmission rope 1-6.And, be easy to realize the dismounting of pointing by regulating these two nuts.
(4) description of drawings
Fig. 1 is a whole mechanism map of the present invention.
Fig. 2 is the structural representation figure of fingertip clamping mechanism of the present invention.
Fig. 3, the 4th, the structural representation of this practical joint driving mechanism.
Fig. 5 is the structural representation of rotary joint of the present invention.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1, the present invention constitutes 3 by fingertip clamping mechanism 1, joint driving mechanism 2, rotary joint;
In conjunction with Fig. 2, fingertip clamping mechanism 1 is made up of finger tip 1-1, finger tip 1-2, transmission rope 1-3, connecting axle 1-4, long sleeve pipe 1-5, transmission rope 1-6.And be provided with locating piece 1-7 at long sleeve pipe 1-5.Finger tip 1-1, finger tip 1-2 are connected on the long sleeve pipe 1-5 by connecting axle 1-4.Finger tip 1-2, finger tip 1-1 realize the transmission transmission by the driving wheel 2-7 that mentions later, driving wheel 2-2 by rope respectively.
In conjunction with Fig. 3, motor 2-5 is cemented on the motor plate 2-6, and motor plate 2-6 is fixed on the side plate of bracing frame 2-1 middle part.The axle of motor 2-5 is provided with driving wheel 2-7, and driving wheel 2-7 drives race on the finger tip 1-2 by transmission rope 1-3, and then realizes that motor 2-5 drives at a distance to finger tip 1-2.Motor 2-3, motor plate 2-4, driving wheel 2-2 also does same layout.
In conjunction with Fig. 2, Fig. 4, locating piece 1-7 are cemented in the tube wall outside of long sleeve pipe 1-5, can move in gathering sill 2-10, and locating piece 1-7 two sides are the cooperation of gap value less clearance with lateral cooperation of gathering sill 2-10.The axial location of locating piece 1-7 at gathering sill 2-10 determined in position by adjusting nut 2-8, nut 2-9.
In conjunction with Fig. 5, the multidiameter of bracing frame 2-1 is provided with bearing 3-2, the inner ring of the shaft shoulder of the multidiameter of bracing frame 2-1 and nut 3-4 axial location bearing 3-2, and motor cover 3-1, the outer ring of back-up ring 3-3 axial location bearing 3-2 is used in the hole.Motor 3-6 is cemented on the motor cover 3-1 by motor plate 3-5, and the axis hole of the multidiameter on the motor shaft of motor 3-6 and the bracing frame 2-1 adopts key to transmit moment of torsion.Motor cover 3-1 is provided with elastic ring 3-7, T type fast interface 3-8.
The action implementation process of surgical operation robot multiple degree of freedom finger of the present invention is described now:
In conjunction with Fig. 2, Fig. 4, pretension of the present invention is to determine the axial location of locating piece 1-7 at gathering sill 2-10 by the position of adjusting nut 2-8, nut 2-9, and then realizes regulating transmission rope 1-3, the tensioning degree of transmission rope 1-6, thereby the pretension of realization rope.
In conjunction with Fig. 2, Fig. 3, moment of torsion is delivered on the driving wheel 2-2 on the motor 2-3 motor shaft, and driving wheel 2-2 carries out transmission by transmission rope 1-6 to finger tip 1-1, thereby realizes the driving of motor 2-3 to finger tip 1-1.Motor 2-5, driving wheel 2-7, transmission rope 1-3, finger tip 1-2 also are above-mentioned type of belt drive.Motor 2-3, motor 2-5 are controlling finger tip 1-1, finger tip 1-2 respectively and are doing when moving in the same way, and finger is realized the pitching action; When doing adverse movement, finger is realized holding action.
In conjunction with Fig. 5, the rotation of finger drives bracing frame 2-1 by electric rotating machine 3-6 and rotates and realize.Motor cover 3-1 goes up the elastic ring 3-7, the T type fast interface 3-8 that are provided with and is used to realize that finger part is connected with the quick of the follow-up joint of surgical operation robot.The interface in follow-up joint along T type fast interface 3-8 elasticity of compression circle 3-7, when being compressed to the axial maximum limit of T type fast interface 3-8, rotates whole finger part, stops axial compression.Elastic ring 3-7 utilizes self elasticity stuck at T type fast interface 3-8 follow-up joint interface.
Claims (9)
1. a surgical operation robot multiple degree of freedom finger mainly is to be made of fingertip clamping mechanism, joint driving mechanism, rotary joint; It is characterized in that: fingertip clamping mechanism is made up of two finger tips, two transmission ropes, connecting axle, long sleeve pipes, and two finger tips are connected to long sleeve pipe by connecting axle, has two transmission ropes of race on the finger tip and is enclosed within respectively on two races on the finger tip; Described joint driving mechanism comprises bracing frame, the front end of bracing frame is connected with fingertip clamping mechanism, the rear end of bracing frame has multidiameter, two drive motors are installed on the bracing frame, on the axle of each drive motors driving wheel is installed all, the transmission rope of fingertip clamping mechanism is enclosed within the race that drives on the driving wheel on the finger tip; Described rotary joint comprises the motor cover, be installed in the electric rotating machine in the motor cover, and the multidiameter of the bracing frame in the joint driving mechanism places the motor cover and transmits moment of torsion with spool being connected of electric rotating machine by the bearing that is provided with it on.
2. surgical operation robot multiple degree of freedom finger according to claim 1 is characterized in that: long sleeve pipe is provided with locating piece, and the front end of bracing frame has installation sleeve, has gathering sill on the installation sleeve, and locating piece is positioned in the gathering sill by two adjusting nuts.
3. surgical operation robot multiple degree of freedom finger according to claim 1 and 2 is characterized in that: be provided with elastic ring in the motor cover, there is T type fast interface motor cover rear end.
4. described surgical operation robot multiple degree of freedom finger according to claim 1 and 2 is characterized in that: described drive motors is cemented on the motor plate, and motor plate is fixed on the bracing frame again.
5. described surgical operation robot multiple degree of freedom finger according to claim 3 is characterized in that: described drive motors is cemented on the motor plate, and motor plate is fixed on the bracing frame again.
6. described surgical operation robot multiple degree of freedom finger according to claim 1 and 2 is characterized in that: described electric rotating machine is cemented on the electric rotating machine plate, and the electric rotating machine plate is fixed on motor again and puts.
7. described surgical operation robot multiple degree of freedom finger according to claim 3 is characterized in that: described electric rotating machine is cemented on the electric rotating machine plate, and the electric rotating machine plate is fixed on motor again and puts.
8. described surgical operation robot multiple degree of freedom finger according to claim 4 is characterized in that: described electric rotating machine is cemented on the electric rotating machine plate, and the electric rotating machine plate is fixed on motor again and puts.
9. described surgical operation robot multiple degree of freedom finger according to claim 5 is characterized in that: described electric rotating machine is cemented on the electric rotating machine plate, and the electric rotating machine plate is fixed on motor again and puts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010100324271A CN101773401B (en) | 2010-01-06 | 2010-01-06 | Surgical operation robot multiple degree of freedom finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010100324271A CN101773401B (en) | 2010-01-06 | 2010-01-06 | Surgical operation robot multiple degree of freedom finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101773401A true CN101773401A (en) | 2010-07-14 |
| CN101773401B CN101773401B (en) | 2013-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010100324271A Expired - Fee Related CN101773401B (en) | 2010-01-06 | 2010-01-06 | Surgical operation robot multiple degree of freedom finger |
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| CN (1) | CN101773401B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102525658A (en) * | 2012-01-16 | 2012-07-04 | 哈尔滨工程大学 | Manual three-degree-of-freedom micro manipulator for minimally invasive surgery |
| CN102846365A (en) * | 2012-09-07 | 2013-01-02 | 北京航空航天大学 | Wrist type end effector driven by four shape memory alloy wires |
| CN103565529A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Robot-assisted multifunctional instrument arm for minimally invasive surgery |
| CN103932790A (en) * | 2014-03-11 | 2014-07-23 | 哈尔滨工程大学 | Two-freedom-degree mechanism used for surgical operation robot and provided with connector quickly changing function |
| CN104473693A (en) * | 2010-12-17 | 2015-04-01 | 伊顿株式会社 | Surgical robot system and adaptive control method thereof |
| CN104519823A (en) * | 2012-08-02 | 2015-04-15 | 皇家飞利浦有限公司 | Controller definition of a robotic remote center of motion |
| CN105997249A (en) * | 2016-04-26 | 2016-10-12 | 哈尔滨工业大学 | Hybrid mechanism with five freedom degrees, capable of implementing spatial three-dimensional positioning and two-dimensional orientation |
| CN110623746A (en) * | 2018-06-22 | 2019-12-31 | 深圳市精锋医疗科技有限公司 | Surgical robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1730246A (en) * | 2005-08-04 | 2006-02-08 | 天津大学 | Micro manipulator used for throat surgery |
| CN100553583C (en) * | 2008-06-13 | 2009-10-28 | 哈尔滨工程大学 | Manual tiny mechanical arm for minimally invasive surgery |
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2010
- 2010-01-06 CN CN2010100324271A patent/CN101773401B/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104473693B (en) * | 2010-12-17 | 2017-07-04 | 伊顿株式会社 | Surgical robot system and its self-adaptation control method |
| CN104473693A (en) * | 2010-12-17 | 2015-04-01 | 伊顿株式会社 | Surgical robot system and adaptive control method thereof |
| CN106214262B (en) * | 2010-12-17 | 2019-02-01 | 伊顿株式会社 | Surgical robot system and its self-adaptation control method |
| CN106214262A (en) * | 2010-12-17 | 2016-12-14 | 伊顿株式会社 | Surgical robot system and self-adaptation control method thereof |
| CN102525658B (en) * | 2012-01-16 | 2013-08-28 | 哈尔滨工程大学 | Manual three-degree-of-freedom micro manipulator for minimally invasive surgery |
| CN102525658A (en) * | 2012-01-16 | 2012-07-04 | 哈尔滨工程大学 | Manual three-degree-of-freedom micro manipulator for minimally invasive surgery |
| CN104519823A (en) * | 2012-08-02 | 2015-04-15 | 皇家飞利浦有限公司 | Controller definition of a robotic remote center of motion |
| CN104519823B (en) * | 2012-08-02 | 2018-02-16 | 皇家飞利浦有限公司 | The controller in the robot remote centre of motion limits |
| CN102846365A (en) * | 2012-09-07 | 2013-01-02 | 北京航空航天大学 | Wrist type end effector driven by four shape memory alloy wires |
| CN103565529A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Robot-assisted multifunctional instrument arm for minimally invasive surgery |
| CN103565529B (en) * | 2013-11-11 | 2015-06-17 | 哈尔滨工程大学 | Robot-assisted multifunctional instrument arm for minimally invasive surgery |
| CN103932790A (en) * | 2014-03-11 | 2014-07-23 | 哈尔滨工程大学 | Two-freedom-degree mechanism used for surgical operation robot and provided with connector quickly changing function |
| CN103932790B (en) * | 2014-03-11 | 2016-01-27 | 哈尔滨工程大学 | There is the surgical operation robot Two-Degree-of-Freedom mechanism of rapid replacing interface function |
| CN105997249A (en) * | 2016-04-26 | 2016-10-12 | 哈尔滨工业大学 | Hybrid mechanism with five freedom degrees, capable of implementing spatial three-dimensional positioning and two-dimensional orientation |
| CN110623746A (en) * | 2018-06-22 | 2019-12-31 | 深圳市精锋医疗科技有限公司 | Surgical robot |
| CN110623746B (en) * | 2018-06-22 | 2021-05-11 | 深圳市精锋医疗科技有限公司 | Surgical robot |
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| Publication number | Publication date |
|---|---|
| CN101773401B (en) | 2013-05-08 |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yu Lingtao Inventor after: Wang Hongmin Inventor after: Zhao Jiliang Inventor after: Zhang Lixun Inventor after: Wang Daoming Inventor before: Yu Lingtao Inventor before: Zhao Jiliang Inventor before: Wang Daoming Inventor before: Zhang Lixun |
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| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: YU LINGTAO ZHAO JILIANG WANG DAOMING ZHANG LIXUN TO: YU LINGTAO WANG HONGMIN ZHAO JILIANG ZHANG LIXUN WANG DAOMING |
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| C10 | Entry into substantive examination | ||
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130508 Termination date: 20200106 |
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| CF01 | Termination of patent right due to non-payment of annual fee |