CN104116547B - The little inertia operating theater instruments of low friction for micro-wound operation robot - Google Patents
The little inertia operating theater instruments of low friction for micro-wound operation robot Download PDFInfo
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- CN104116547B CN104116547B CN201410359514.6A CN201410359514A CN104116547B CN 104116547 B CN104116547 B CN 104116547B CN 201410359514 A CN201410359514 A CN 201410359514A CN 104116547 B CN104116547 B CN 104116547B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
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Abstract
The present invention relates to the little inertia operating theater instruments of a kind of low friction for micro-wound operation robot, comprise the power drive portion (3), main body shaft portion (2) and the end effector part (1) that connect successively; Described end effector part (1) comprises fingers opening-closing joint and wrist pitching joint; Described power drive portion (3) is connected with wrist pitching joint with the fingers opening-closing joint of end effector part (1) through after main body shaft portion (2) respectively by Steel rope drive structure, realizes end effector fingers opening-closing and wrist elevating movement.Compared with prior art, the present invention has and realizes end joint motions decoupling zero, and activation configuration is simple, effectively reduces operating theater instruments body inertia, reduces driver frictional force and realizes advantages such as can reversely driving.
Description
Technical field
The present invention relates to a kind of medical apparatus and instruments, especially relate to the little inertia operating theater instruments of a kind of low friction for micro-wound operation robot.
Background technology
Minimally invasive surgical operation robot system can improve the motility that surgeon improves operation technique significantly.This type of minimal invasive surgical procedures normally adopts to be passed through to enter patient focal zone at patient body-surface miniature incision by elongated peritoneoscope and Minimally Invasive Surgery utensil.In the process, utilize the operations such as dexterous surgical instrument cuts patient's lesion tissue, stitching, the surgical instrument of this dexterity facilitates endoscopic procedure operating process.This operation technique apparatus can effectively reduce the operation risk of patient and shorten operation time.
Because the current Minimally Invasive Surgery apparatus generally used exists following shortcoming, Minimally Invasive Surgery effect is made to be difficult to be further enhanced.Current most of operating theater instruments adopts the DC motor drive mode with higher rotation speed.In order to underspeed, improve input torque, designer usually installs gear reduction unit at motor output shaft and realizes above-mentioned functions.The combined mechanism of this direct current generator and decelerator generally has large inertia, and high frictional force, is difficult to the shortcomings such as reverse driving.In addition, drive motors or driver are placed on driving joint by many robotic tool, and when these joints are movable joints, the inertia of these drivers will affect the operating characteristics of operating theater instruments.In addition, the shared space of some drivers is comparatively large, the working place even occupying end effector had, thus affects the operational boundaries that surgical instrument can reach.Owing to adopting the driver of elongate stick-type structure and high frictional force, another significant drawbacks of current Minimally Invasive Surgery apparatus is that the perception of surgeon to patient's focus contact tissue power has been weakened severely.
In order to ensure safety and the effectiveness of Minimally Invasive Surgery operation, the design needs of Minimally Invasive Surgery apparatus are needed to consider following problem.First, expect that the end joint of operating theater instruments and driver thereof have little inertia, low friction, the advantage such as reversely can to drive, thus surgeon's Obtaining Accurate operating theater instruments end effector and patient tissue contacts's force information can be helped, improve operation safety.Secondly, operating theater instruments has enough motilities, can significantly improve the operating efficiency of surgeon in procedure.This just expects that the end of Minimally Invasive Surgery apparatus at least has two joints.Current research mainly realizes, to the driving in operation instrument end joint, seldom studying the end performance element of Minimally Invasive Surgery apparatus by the compound mode of drive motors and gear reduction unit.Thus, surgeon uses this type of operating theater instruments to be difficult to obtain end contact force information accurately, adds corrective surgery risk.
Summary of the invention
Object of the present invention be exactly in order to overcome above-mentioned prior art exist defect and provide a kind of low friction for micro-wound operation robot little inertia operating theater instruments, realize end joint motions decoupling zero, activation configuration is simple, effective minimizing operating theater instruments body inertia, reduces driver frictional force and realizes reversely driving.
Object of the present invention can be achieved through the following technical solutions:
The little inertia operating theater instruments of low friction for micro-wound operation robot, is characterized in that, comprises the power drive portion (3), main body shaft portion (2) and the end effector part (1) that connect successively; Described end effector part (1) comprises fingers opening-closing joint and wrist pitching joint;
Described power drive portion (3) is connected with wrist pitching joint with the fingers opening-closing joint of end effector part (1) through after main body shaft portion (2) respectively by Steel rope drive structure, realizes end effector fingers opening-closing and wrist elevating movement.
Described fingers opening-closing joint comprises stiff end finger (1.8a), tache motorice finger (1.8b), folding rotating shaft (1.7) and folding drive wire (1.3a, 1.3b), described stiff end finger (1.8a) is pointed (1.8b) by folding rotating shaft (1.7) with tache motorice and is connected, described folding drive wire (1.3a, 1.3b) is wrapped in the rotation axial trough of tache motorice finger (1.8b), and brought into motion end finger (1.8b) is relative to stiff end finger (1.8a) folding rotary motion;
Described wrist pitching joint comprises driving wheel (1.5), finger mounted connecting rod (1.6), pitching rotating shaft (1.9) and pitching drive wire (1.4a, 1.4b), described finger mounted connecting rod (1.6) is connected by pitching rotating shaft (1.9) driving wheel (1.5), described pitching drive wire (1.4a, 1.4b) is wrapped on driving wheel (1.5), drives finger mounted connecting rod (1.6) elevating movement.
Described stiff end finger (1.8a) root is fixedly connected with finger mounted connecting rod (1.6), described finger mounted connecting rod (1.6) is provided with wears for folding drive wire (1.3a, 1.3b) rotation center hold (1.6a, 1.6b) penetrated, and on center of rotation direction, be provided with direction maintenance wheel (1.2a, 1.2b).
Be provided with for folding drive wire (1.3a, 1.3b) end fixed fixing hole (1.8c) in the rotation axial trough of described tache motorice finger (1.8b).
Four groups of driven units that described power drive portion (3) comprises four servomotors (3.9a, 3.9b, 3.9c, 3.9d), connect one to one with servomotor and connecting rod pedestal (3.1), four groups of described driven units are connected with connecting rod pedestal (3.1), and described connecting rod pedestal (3.1) is connected with main body shaft portion (2).
Often organize driven unit and comprise connecting rod rack (3.2a, 3.2b, 3.2c, 3.2d) and the assembly pulley be all fixed on connecting rod rack (3.2a, 3.2b, 3.2c, 3.2d) and wheel hub (3.4a, 3.4b, 3.4c, 3.4d), described wheel hub (3.4a, 3.4b, 3.4c, 3.4d) is connected with servomotor, assembly pulley respectively, and described assembly pulley is connected with connecting rod pedestal (3.1).
Described assembly pulley comprises the first reverse wheel (3.5a), the second reverse wheel (3.5b), the 3rd reverse wheel (3.5c) and freewheel (3.3a), described the first reverse wheel (3.5a) one end is connected with freewheel (3.3a), the other end is connected with connecting rod pedestal (3.1), described wheel hub, the 3rd reverse wheel (3.5c), freewheel (3.3a), the second reverse wheel (3.5b), wheel hub form entire motion loop after being connected successively by driving steel wire rope (3.7).
Described connecting rod pedestal (3.1) is provided with four groups of commutations wheels (3.1a, 3.1b, 3.1c, 3.1d, 3.1e, 3.1g), four groups of commutation wheels one end connect with first reverse wheel (3.5a) of corresponding driven unit respectively, and the other end is connected with folding drive wire (1.3a, 1.3b) and pitching drive wire (1.4a, 1.4b) by main body shaft portion (2).
Described power drive portion (3) also comprises and four rotary encoders (3.10a, 3.10b, 3.10c, 3.10d) connected one to one with servomotor.
Compared with prior art, the present invention has the following advantages:
1) the present invention has end articulations digitorum manus and wrist joints sporting solution Rhizoma Nelumbinis function, eliminates traditional joint designs movement interference problem.
2) the present invention adopts seizing wire type of drive, freewheel and reverse wheel is utilized to realize high-speed motor speed-regulating function, avoid using heavy gear reduction unit, make operating theater instruments compact overall structure, inertia is little, ensure that accuracy and the reliability of the surgical instrument movement under Minimally Invasive Surgery condition.
3) present invention achieves end effector joint motions can reverse driving function to driver rotating shaft, have employed steel wire rope and the reverse wheel combinative structure of low friction, be conducive to adopting the unable sensor condition lower end operating physical force feedback based on kinetic model.
4) basic application of the present invention is based on laparoscopically micro-wound surgical operation, has the potentiality to other surgical operating instruments and the expansion of relevant compact mechanical arm application simultaneously.
Accompanying drawing explanation
Fig. 1 is low friction little inertia operating theater instruments population structure schematic diagram.
Fig. 2 is operating theater instruments end fingers opening-closing joint and pitching joint freedom degrees schematic diagram.
Fig. 3 is operating theater instruments end fingers opening-closing joint freedom degrees oblique view.
Fig. 4 is that operating theater instruments end finger-joint drives steel wire rope to fix schematic diagram.
Fig. 5 is operating theater instruments power drive portion schematic diagram.
Fig. 6 is operating theater instruments connecting rod pedestal reverse wheel structural representation.
Fig. 7 is operating theater instruments connecting rod pedestal front view.
Fig. 8 is operating theater instruments power drive portion electric machine speed regulation structural scheme of mechanism.
Fig. 9 is operating theater instruments end fingers opening-closing joint steel wire rope drive schematic diagram.
Wherein 1 is end effector part, 1.1 is housing, and 1.2a, 1.2b are that direction keeps wheel, and 1.3a, 1.3b are folding drive wire, 1.4a, 1.4b are pitching drive wire, 1.5 is driving wheel, and 1.6 is finger mounted connecting rod, and 1.7 is folding rotating shaft, 1.8a is stiff end finger, 1.8b is tache motorice finger, and 1.8c is fixing hole, and 1.9 is pitching rotating shaft;
2 is main body shaft portion;
3 is power drive portion, 3.1 is connecting rod pedestal, 3.1a, 3.1b, 3.1c, 3.1d, 3.1e, 3.1f, 3.1g are four groups of commutation wheels, 3.2a, 3.2b, 3.2c, 3.2d are connecting rod rack, 3.3a is freewheel, 3.4a, 3.4b, 3.4c, 3.4d are wheel hub, 3.5a is the first reverse wheel, 3.5b is the second reverse wheel, 3.5c is the 3rd reverse wheel, and 3.6,3.7 for driving steel wire rope, and 3.8 is motor base, 3.9a, 3.9b, 3.9c, 3.9d are four servomotors, and 3.10a, 3.10b, 3.10c, 3.10d are four rotary encoders.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment
As shown in Figure 1, the little inertia operating theater instruments of the low friction for micro-wound operation robot, comprises the power drive portion 3, main body shaft portion 2 and the end effector part 1 that connect successively; Described end effector part 1 comprises fingers opening-closing joint and wrist pitching joint;
Described power drive portion 3 is connected with wrist pitching joint with the fingers opening-closing joint of end effector part 1 through after main body shaft portion 2 respectively by Steel rope drive structure, realizes end effector fingers opening-closing and wrist elevating movement.The mode that power drive portion adopts follower to be combined with drivewheel, realizes the deceleration to servomotor, and improves the driving moment of motor output shaft thus.
Fig. 2 and Figure 3 shows that operating theater instruments end effector fingers opening-closing joint and wrist pitching joint schematic diagram.End effector has two fingers, is respectively 1.8a and 1.8b.Root and the finger mounted connecting rod 1.6 of 1.8a finger are connected, and 1.8b can realize the rotary motion relative to 1.8a, and rotating shaft is 1.7.As shown in Figure 4, this rotary motion realizes rotary motion by Steel rope drive line 1.3a and 1.3b be wrapped in 1.8b rotation axial trough.The end of drive wire 1.3a and 1.3b is all fixed on hole 1.8c.The other end of drive wire 1.3a and 1.3b respectively by finger mounted connecting rod 1.6 center of rotation and through hole 1.6a and 1.6b, this center of rotation direction keeps wheel combination 1.2a and 1.2b to form by both direction respectively.Now, even if finger mounted connecting rod 1.6 carries out elevating movement, because drive wire 1.4a and 1.4b is respectively by the center of rotation of this part, can not produce the motion of end fingers opening-closing and interfere, thus Rhizoma Nelumbinis function is separated in realization motion.
The rotating shaft in pitching joint is 1.9, and these joint motions are realized by the motion of Steel rope drive line 1.4a and 1.4b, and as shown in Figure 3, steel wire rope 1.4a and 1.4b walks around the race of driving wheel 1.5 respectively from two sides, and final realization realizes being connected with driving wheel 1.5.
The rotating shaft 1.7 in above-mentioned fingers opening-closing joint and the rotating shaft 1.9 in pitching joint realize driving steel wire rope 1.3a, 1.3b and 1.4a, 1.4b by two respectively.This two couple drives two pairs of servomotors of steel wire rope difference respective ends driver.
Fig. 5 is the drive part schematic diagram of operating theater instruments of the present invention.From Fig. 2, Fig. 3, operating theater instruments of the present invention has two degree of freedom, four servomotor 3.9a-3.9d corresponding two driving joint rotating shafts 1.7 and 1.9 respectively.Four DC servo motors are respectively according on motor base 3.8, and all direct current generator ends are all provided with rotary encoder 3.10a-3.10d.Four motor shaft ends are provided with step wheel hub 3.4a-3.4d, and wheel hub has thread groove.
Fig. 6 is connecting rod pedestal reverse wheel structural representation of the present invention.Fig. 7 is the front view of this mechanism.The present invention has two driving joints 1.7 and 1.9, each joint drives Steel rope drive by two, and (rotating shaft 1.7 correspondence as fingers opening-closing joint drives steel wire rope 1.3a and 1.3b, rotating shaft 1.9 correspondence in pitching joint drives steel wire rope 1.4a and 1.4b), and each root drives a servomotor (as shown in Figure 9) on steel wire rope respective ends driver element.Each root exported from servomotor drives steel wire rope could will be connected mutually with joint respectively by the reverse wheel connecting rod pedestal 3.1.
Drive part of the present invention has 4 groups of electric machine speed regulation mechanisms (as shown in Figure 9) around even circumferential arrangement, and for convenience of explanation, existing taking-up wherein one group of mechanism (Fig. 8) is illustrated, the composition similar of other mechanisms.The axle center of reverse wheel 3.5a, 3.5b, 3.5c is all fixed on connecting rod rack 3.2b.Drive steel wire rope 3.7 one end to be fixed on wheel hub smaller diameter end 3.4a on motor shaft, and walk around reverse wheel 3.5c and be connected with freewheel 3.3a, this drive wire is connected eventually through reverse wheel 3.5b and drive hub 3.4a, formation entire motion loop.
As shown in Figure 9, the axle center of freewheel 3.3a and another drive steel wire rope 3.6 to be connected, drive wire 3.6 walks around reverse wheel 3.5a, through the center of commutation wheels 3.1a and 3.1b on connecting rod pedestal 3.1, by the main body connecting rod 2 of hollow, and be finally connected with end effector fingers opening-closing joint drive line 1.3b phase.The opposite direction motion in fingers opening-closing joint is realized by driving steel wire rope 1.3a.Drive steel wire rope 1.3a to keep the center of wheel combination 1.3a and 1.3d through the direction be installed on 1.1, be connected mutually with drive deceleration mechanism, the rotary motion in this direction is realized by drive motors 3.9c.
Because motor shaft end step wheel hub has different diameters, servo motor output shaft high speed rotary motion realizes freewheel low-speed rectilinear movement by this differential attachment, realize little inertia, low friction, can reverse driving function.
Schematically above be described the present invention and embodiment thereof, this description does not have restricted, and shown also just one of the embodiments of the present invention in accompanying drawing, actual structure is not limited thereto.So; if those skilled in the art enlightens by it; when not departing from the invention aim; adopt step wheel hub and reverse wheel, freewheel combined type transmission structure to realize high-speed motor reduction also to realize rotary motion thus and be transformed into the operating theater instruments of rectilinear motion or the frame mode similar to this technical scheme and embodiment, all should protection scope of the present invention be belonged to.
Claims (5)
1. for the little inertia operating theater instruments of low friction of micro-wound operation robot, it is characterized in that, comprise the power drive portion (3), main body shaft portion (2) and the end effector part (1) that connect successively; Described end effector part (1) comprises fingers opening-closing joint and wrist pitching joint;
Described power drive portion (3) is connected with wrist pitching joint with the fingers opening-closing joint of end effector part (1) through after main body shaft portion (2) respectively by Steel rope drive structure, realizes end effector fingers opening-closing and wrist elevating movement;
Described fingers opening-closing joint comprises stiff end finger (1.8a), tache motorice finger (1.8b), folding rotating shaft (1.7) and folding drive wire (1.3a, 1.3b), described stiff end finger (1.8a) is pointed (1.8b) by folding rotating shaft (1.7) with tache motorice and is connected, described folding drive wire (1.3a, 1.3b) is wrapped in the rotation axial trough of tache motorice finger (1.8b), and brought into motion end finger (1.8b) is relative to stiff end finger (1.8a) folding rotary motion;
Described wrist pitching joint comprises driving wheel (1.5), finger mounted connecting rod (1.6), pitching rotating shaft (1.9) and pitching drive wire (1.4a, 1.4b), described finger mounted connecting rod (1.6) is connected by pitching rotating shaft (1.9) driving wheel (1.5), described pitching drive wire (1.4a, 1.4b) is wrapped on driving wheel (1.5), drives finger mounted connecting rod (1.6) elevating movement;
Four groups of driven units that described power drive portion (3) comprises four servomotors (3.9a, 3.9b, 3.9c, 3.9d), connect one to one with servomotor and connecting rod pedestal (3.1), four groups of described driven units are connected with connecting rod pedestal (3.1), and described connecting rod pedestal (3.1) is connected with main body shaft portion (2);
Often organize driven unit and comprise connecting rod rack (3.2a, 3.2b, 3.2c, 3.2d) and the assembly pulley be all fixed on connecting rod rack (3.2a, 3.2b, 3.2c, 3.2d) and wheel hub (3.4a, 3.4b, 3.4c, 3.4d), described wheel hub (3.4a, 3.4b, 3.4c, 3.4d) is connected with servomotor, assembly pulley respectively, and described assembly pulley is connected with connecting rod pedestal (3.1);
Described assembly pulley comprises the first reverse wheel (3.5a), the second reverse wheel (3.5b), the 3rd reverse wheel (3.5c) and freewheel (3.3a), described the first reverse wheel (3.5a) one end is connected with freewheel (3.3a), the other end is connected with connecting rod pedestal (3.1), described wheel hub, the 3rd reverse wheel (3.5c), freewheel (3.3a), the second reverse wheel (3.5b), wheel hub form entire motion loop after being connected successively by driving steel wire rope (3.7).
2. the little inertia operating theater instruments of a kind of low friction for micro-wound operation robot according to claim 1, it is characterized in that, described stiff end finger (1.8a) root is fixedly connected with finger mounted connecting rod (1.6), described finger mounted connecting rod (1.6) is provided with wears for folding drive wire (1.3a, 1.3b) rotation center hold (1.6a, 1.6b) penetrated, and on center of rotation direction, be provided with direction maintenance wheel (1.2a, 1.2b).
3. the little inertia operating theater instruments of a kind of low friction for micro-wound operation robot according to claim 1, it is characterized in that, be provided with for folding drive wire (1.3a, 1.3b) end fixed fixing hole (1.8c) in the rotation axial trough of described tache motorice finger (1.8b).
4. the little inertia operating theater instruments of a kind of low friction for micro-wound operation robot according to claim 1, it is characterized in that, described connecting rod pedestal (3.1) is provided with four groups of commutations wheels (3.1a, 3.1b, 3.1c, 3.1d, 3.1e, 3.1g), four groups of commutation wheels one end connect with first reverse wheel (3.5a) of corresponding driven unit respectively, and the other end is connected with folding drive wire (1.3a, 1.3b) and pitching drive wire (1.4a, 1.4b) by main body shaft portion (2).
5. the little inertia operating theater instruments of a kind of low friction for micro-wound operation robot according to claim 1, it is characterized in that, described power drive portion (3) also comprises four rotary encoders (3.10a, 3.10b, 3.10c, 3.10d) connected one to one with servomotor.
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