CN104523306B - A kind of approximation telecentricity fixed point mechanism for Minimally Invasive Surgery operation - Google Patents
A kind of approximation telecentricity fixed point mechanism for Minimally Invasive Surgery operation Download PDFInfo
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- CN104523306B CN104523306B CN201510001744.XA CN201510001744A CN104523306B CN 104523306 B CN104523306 B CN 104523306B CN 201510001744 A CN201510001744 A CN 201510001744A CN 104523306 B CN104523306 B CN 104523306B
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for 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
- A61B2017/00982—General structural features
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Abstract
The invention discloses a kind of approximation telecentricity fixed point mechanism for Minimally Invasive Surgery operation, including: the first motor, it is mounted on the first motor mounting plate；Second motor, it is arranged on the lower section of described first motor by the second motor mounting plate, described second motor mounting plate is additionally provided with teeth portion；The output shaft fixed connection of the first rod member, its one end and described second motor, the other end is provided with teeth portion；Second rod member, its one end and described first rod member pivot joint；3rd rod member, its one end and described second rod member pivot joint, described 3rd rod member is fixedly installed convex tendon, and described convex tendon is fixedly installed on the middle part of described 3rd rod member；End operating theater instruments, it is arranged on described 3rd rod member by what described convex tendon slided.What the present invention can approximate realizes the telecentricity fixed point motion of end operating theater instruments, compact conformation, and the work space in operative process is relatively big, easy to control, it is possible to preferably to meet the actual demand of Minimally Invasive Surgery.
Description
Technical field:
The present invention relates to technical field of medical instruments, more particularly to one approximation telecentricity fixed point mechanism.
Background technology:
Minimally Invasive Surgery is the operation utilizing modern medical equipment and relevant device to carry out.Often operation is completed by various different apparatuses in Minimally Invasive Surgery, telecentricity fixed point mechanism is the core institution in Minimally Invasive Surgery apparatus, existing telecentricity fixed point mechanism is then based on parallel-crank mechanism, there is the problems such as physical dimension is relatively big, structure is complicated, control difficulty, be unfavorable for the enforcement of Minimally Invasive Surgery.
Summary of the invention:
The purpose of the present invention is aiming at the deficiency of prior art, and a kind of approximation telecentricity fixed point mechanism for Minimally Invasive Surgery operation is provided, what it can approximate realizes the telecentricity fixed point motion of end operating theater instruments, compact conformation, work space in operative process is bigger, easy to control, it is possible to preferably to meet the actual demand of Minimally Invasive Surgery.
The technology solution of the present invention is as follows:
A kind of approximation telecentricity fixed point mechanism for Minimally Invasive Surgery operation, including:
First motor, it is mounted on the first motor mounting plate；
Second motor, it is arranged on the lower section of described first motor by the second motor mounting plate, described second motor is mounted on described second motor mounting plate, described second motor mounting plate and the output shaft fixed connection of described first motor, and described second motor mounting plate is additionally provided with teeth portion；
The output shaft fixed connection of the first rod member, its one end and described second motor, the other end is provided with teeth portion, described first rod member is provided with the first gear unit；Described first gear unit includes the first main pulley that the first travelling gear being meshed with the teeth portion of described second motor mounting plate is meshed with described first travelling gear, is arranged on the first of described first rod member teeth portion end and from belt wheel and is set in described first main pulley and described first first Timing Belt from belt wheel；
Second rod member, its one end and described first is provided with the second gear unit on the output shaft fixed connection of belt wheel, described second rod member；Described second gear unit includes the second main pulley that the second travelling gear being meshed with the teeth portion of described first rod member is meshed with described second travelling gear, is arranged on the second of the described second rod member other end and from belt wheel and is set in described second main pulley and second second Timing Belt from belt wheel；
3rd rod member, its one end and described second is fixedly installed convex tendon on the output shaft fixed connection of belt wheel, described 3rd rod member, described convex tendon be fixedly installed on described 3rd rod member middle part and along described 3rd rod member length direction extend；
End operating theater instruments, it is arranged on described 3rd rod member by what described convex tendon slided.
Preferred as technique scheme, the longitudinal cross-section of the second described motor mounting plate is inverted "L" shaped.
Preferred as technique scheme, the first described rod member is provided with short pin shaft and long pin shaft near one end of described second motor mounting plate, and described short pin shaft is arranged with described first travelling gear, and described long pin shaft is arranged with described first main pulley.
Preferred as technique scheme, the second described rod member is provided with short pin shaft and long pin shaft near one end of described first rod member teeth portion, and described short pin shaft is arranged with described second travelling gear, and described long pin shaft is arranged with described second main pulley.
Preferred as technique scheme, described teeth portion is the arc-shaped of 180 °.
Preferred as technique scheme, / 2nd of a length of described 3rd rod member length of described convex tendon, described convex tendon lower end away from described 3rd rod free end distance is described 3rd rod member length 1/4th, described convex tendon upper end away from the described 3rd rod member other end distance is described 3rd rod member length 1/4th.
Preferred as technique scheme, the rectangular in cross-section shape of described convex tendon.
Preferred as technique scheme, the first described travelling gear is Tong Bu with described first main pulley；Described first main pulley is Tong Bu from belt wheel with described first；Described second travelling gear is Tong Bu with described second main pulley；Described second main pulley is Tong Bu from belt wheel with described second.
The beneficial effects of the present invention is: under the driving of the first motor, the first rod member can realize the gyration around described first motor shaft, under the driving of the second motor, the first rod member can also realize rotating upwardly and downwardly；Second rod member can rotate relative to the first rod member, and the gear ratio of its motion accurately can be controlled by the first travelling gear of the first gear unit and the first main pulley.3rd rod member can be relative to the second rod member motion, and the gear ratio of its motion accurately can be controlled by the second travelling gear of the second gear unit and the second main pulley；End operating theater instruments can be slided on the 3rd rod member so that described end operating theater instruments can freely be stretched.Being controlled by the accurate gear ratio of the first gear unit and the second gear unit, the first rod member, the second rod member and the 3rd rod member are in rotation process, and end operating theater instruments can realize approximating the motion of telecentricity fixed point.
For parallel-crank mechanism of the prior art, the present invention is by setting rational speed reducing ratio, the telecentricity fixed point demand in operation process is disclosure satisfy that while being effectively reduced the size of mechanism, wherein, described speed reducing ratio is the speed reducing ratio between the first travelling gear and the first main pulley and the second travelling gear and the speed reducing ratio of the second main pulley.
Therefore, the present invention can meet the Minimally Invasive Surgery approximate requirements to telecentricity fixed point, and it has compact structure, and work space is relatively big, and the accurate advantage of gear ratio is easy to control, and can preferably meet the actual requirement of clinical operation.
Accompanying drawing illustrates:
The following drawings is only intended to, in schematically illustrating the present invention and explaining, not delimit the scope of the invention.Wherein:
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the structural representation of second motor mounting plate of the present invention；
Fig. 3 is the structural representation of first rod member of the present invention；
Fig. 4 is the structural representation of second rod member of the present invention；
Fig. 5 is the structural representation of the 3rd rod member of the present invention；
Fig. 6 is the structural representation of first gear unit of the present invention；
Fig. 7 is the structural representation of second gear unit of the present invention；
Fig. 8 is the long schematic diagram of bar of the present invention.
In figure, the 10, first motor；11, the first motor mounting plate；20, the second motor；21, the second motor mounting plate；30, the first rod member；40, the second rod member；50, the 3rd rod member；51, convex tendon；60, end operating theater instruments；70, the first gear unit；71, the first travelling gear；72, the first main pulley；73, the first Timing Belt；74, first from belt wheel；80, the second gear unit；81, the second travelling gear；82, the second main pulley；83, the second Timing Belt；84, second from belt wheel；90, teeth portion.
Detailed description of the invention:
Embodiment: by particular specific embodiment, embodiments of the present invention are described below, those skilled in the art can be understood other advantages and effect of the present invention easily by content disclosed in the present specification, " top ", " lower section ", " top " mentioned in the present embodiment, " bottom " etc. describe and define according to common meaning, such as, the direction definition of reference to gravitational, the direction of gravity is lower section, contrary direction is top, the most up be top or top, lower section is bottom or bottom；The description of " first ", " second " and " the 3rd " mentioned in the present embodiment is to understand for ease of narration, and without concerning the importance of parts, more it is not used to limit the enforceable scope of the present invention, being altered or modified of its relativeness, changing under technology contents without essence, also when being considered as the enforceable category of the present invention.
As shown in Figure 1, a kind of approximation telecentricity fixed point mechanism for Minimally Invasive Surgery operation, including:
First motor 10, it is mounted on the first motor mounting plate 11.
Second motor 20, it is arranged on the lower section of described first motor 10 by the second motor mounting plate 21, and described second motor 20 is mounted on described second motor mounting plate 21, the output shaft fixed connection of described second motor mounting plate 21 and described first motor 10；As shown in Figure 2, described second motor mounting plate 21 being additionally provided with teeth portion 90, wherein, the longitudinal cross-section of described second motor mounting plate 21 is inverted "L" shaped.
First rod member 30, as shown in Fig. 1, Fig. 3 and Fig. 6, its one end and the output shaft fixed connection of described second motor 20, the other end is provided with teeth portion 90, described first rod member 30 is provided with the first gear unit 70；Described first gear unit 70 includes the first main pulley 72 that the first travelling gear 71 being meshed with the teeth portion 90 of described second motor mounting plate 21 is meshed with described first travelling gear 71, is arranged on the first of described first rod member 30 teeth portion end and from belt wheel 74 and is set in described first main pulley 72 and described first first Timing Belt 73 from belt wheel 74；Wherein, described first rod member 30 is provided with short pin shaft and long pin shaft near one end of described second motor mounting plate 21, and described short pin shaft is arranged with described first travelling gear 71, and described long pin shaft is arranged with described first main pulley 72.
Second rod member 40, as shown in Fig. 1, Fig. 4 and Fig. 7, its one end and described first is provided with the second gear unit 80 on the output shaft fixed connection of belt wheel 74, described second rod member 40；Described second gear unit 80 includes the second main pulley 82 that the second travelling gear 81 being meshed with the teeth portion 90 of described first rod member 30 is meshed with described second travelling gear 81, is arranged on the second of described second rod member 40 other end and from belt wheel 84 and is set in described second main pulley 82 and second the second Timing Belt 83 from belt wheel 84；Wherein, described second rod member 40 is provided with short pin shaft and long pin shaft near one end of described first rod member 30 teeth portion 90, and described short pin shaft is arranged with described second travelling gear 81, and described long pin shaft is arranged with described second main pulley 82.
3rd rod member 50, as shown in Fig. 1 and Fig. 5, its one end and described second is fixedly installed convex tendon 51 on the output shaft fixed connection of belt wheel 84, described 3rd rod member 50, described convex tendon 51 be fixedly installed on described 3rd rod member 50 middle part and along described 3rd rod member 50 length direction extend；Wherein, the two of a length of described 3rd rod member 50 length of described convex tendon 51/
One, described convex tendon 51 lower end away from described 3rd rod member 50 free end distance is described 3rd rod member 50 length 1/4th, described convex tendon 51 upper end away from described 3rd rod member 50 other end distance is described 3rd rod member 50 length 1/4th, the rectangular in cross-section shape of described convex tendon 51.
End operating theater instruments 60, as shown in Figure 1, it is arranged on described 3rd rod member 50 by what described convex tendon 51 slided.Teeth portion 90 described in the present embodiment is in the arc-shaped of 180 °.Described first travelling gear 71 is synchronize with described first main pulley 72；Described first main pulley 72 is synchronize from belt wheel 74 with described first；Described second travelling gear 81 is synchronize with described second main pulley 82；Described second main pulley 82 is synchronize from belt wheel 84 with described second.
As shown in Figure 8, heavy line represents that the bar of the parallel-crank mechanism in existing telecentricity fixed point mechanism is long, its a length of R, dotted line represents that the bar of the approximation telecentricity fixed point mechanism of the present invention is long, and a length of r of its bar, on the premise of realizing identical telecentricity fixed point, the long R of bar of parallel-crank mechanism is long, and the long r of bar that approximates telecentricity fixed point mechanism is shorter, occupied volume is less, and mechanism is more compact.It follows that mechanism's rod member of the present invention is shorter, overcome the problem that telecentricity fixed point physical dimension is bigger, make structure become more compact meeting on the premise of Minimally Invasive Surgery operation requires so that operative process has bigger operation technique space.And it is easily controllable to make structure obtain a certain degree of simplification, it is possible to the telecentricity fixed point motion realizing instrument end of approximation.
During use, under the driving of the first motor 10, the first rod member 30 can realize the gyration around the first motor shaft, and under the driving of the second motor 20, the first rod member 30 can also realize rotating upwardly and downwardly；Second rod member 40 can rotate relative to the first rod member 30, and the gear ratio of its motion accurately can be controlled by the first travelling gear 71 of the first gear unit 70 and the first main pulley 72.3rd rod member 50 can move relative to the second rod member 40, and the gear ratio of its motion accurately can be controlled by the second travelling gear 81 of the second gear unit 80 and the second main pulley 82；End operating theater instruments 60 can be slided on the 3rd rod member 50 so that described end operating theater instruments 60 can freely be stretched.Being controlled by the accurate gear ratio of the first gear unit 70 and the second gear unit 80, first rod member the 30, second rod member 40 and the 3rd rod member 50 are in rotation process, and end operating theater instruments 60 can realize approximating the motion of telecentricity fixed point.
Described embodiment is in order to the illustrative present invention, not for limiting the present invention.Described embodiment all can be modified, therefore the scope of the present invention by any those skilled in the art under the spirit and the scope of the present invention, should be as listed by the claim of the present invention.
Claims (8)
1. the approximation telecentricity fixed point mechanism for Minimally Invasive Surgery operation, it is characterised in that
Including:
First motor (10), it is mounted on the first motor mounting plate (11)；
Second motor (20), it is arranged on described first by the second motor mounting plate (21)
The lower section of motor (10), described second motor (20) is mounted at described second electricity
On machine installing plate (21), described second motor mounting plate (21) and described first motor (10)
Output shaft fixed connection, described second motor mounting plate (21) is additionally provided with teeth portion (90)；
The output shaft fixed connection of the first rod member (30), its one end and described second motor (20),
The other end is provided with teeth portion (90), and described first rod member (30) is provided with the first transmission list
Unit (70)；Described first gear unit (70) includes and described second motor mounting plate (21)
The first travelling gear (71) of being meshed of teeth portion (90) and described first travelling gear (71)
The first main pulley (72) of being meshed, it is arranged on the of described first rod member (30) teeth portion end
One from belt wheel (74) and is set in described first main pulley (72) and described first from belt wheel
(74) the first Timing Belt (73) on；
Second rod member (40), its one end and the described first output shaft fixed connection from belt wheel (74),
It is provided with the second gear unit (80) on described second rod member (40)；Described second transmission list
Unit (80) includes the second transmission being meshed with the teeth portion (90) of described first rod member (30)
The second main pulley (82) that gear (81) is meshed with described second travelling gear (81),
Be arranged on described second rod member (40) other end second from belt wheel (84) and is set in institute
State the second main pulley (82) and second second Timing Belt (83) from belt wheel (84)；
3rd rod member (50), its one end and the described second output shaft fixed connection from belt wheel (84),
Being fixedly installed convex tendon (51) on described 3rd rod member (50), described convex tendon (51) is fixed
It is arranged on the middle part of described 3rd rod member (50) and along the length of described 3rd rod member (50)
Direction extends；
End operating theater instruments (60), it is described by being arranged on of sliding of described convex tendon (51)
On 3rd rod member (50).
The most according to claim 1 for the approximation telecentricity fixed point machine of Minimally Invasive Surgery operation
Structure, it is characterised in that: the longitudinal cross-section of described second motor mounting plate (21) is inverted " L "
Type.
The most according to claim 1 for the approximation telecentricity fixed point machine of Minimally Invasive Surgery operation
Structure, it is characterised in that: described first rod member (30) is near described second motor mounting plate (21)
One end be provided with short pin shaft and long pin shaft, described short pin shaft is arranged with described first driving cog
Wheel (71), described long pin shaft is arranged with described first main pulley (72).
The most according to claim 1 for the approximation telecentricity fixed point machine of Minimally Invasive Surgery operation
Structure, it is characterised in that: described second rod member (40) is near described first rod member (30) teeth portion
(90) one end is provided with short pin shaft and long pin shaft, and described short pin shaft is arranged with described second
Travelling gear (81), described long pin shaft is arranged with described second main pulley (82).
The most according to claim 1 for the approximation telecentricity fixed point machine of Minimally Invasive Surgery operation
Structure, it is characterised in that: described teeth portion (90) is in the arc-shaped of 180 °.
The most according to claim 1 for the approximation telecentricity fixed point machine of Minimally Invasive Surgery operation
Structure, it is characterised in that: a length of described 3rd rod member (50) length of described convex tendon (51)
1/2nd, described convex tendon (51) lower end away from described 3rd rod member (50) free end away from
From for 1/4th of described 3rd rod member (50) length, described convex tendon (51) upper end is away from institute
State the 3rd rod member (50) other end distance is described 3rd rod member (50) length four/
One.
The most according to claim 6 for the approximation telecentricity fixed point machine of Minimally Invasive Surgery operation
Structure, it is characterised in that: the rectangular in cross-section shape of described convex tendon (51).
The most according to claim 1 for the approximation telecentricity fixed point machine of Minimally Invasive Surgery operation
Structure, it is characterised in that: described first travelling gear (71) and described first main pulley (72)
Synchronize；Described first main pulley (72) is Tong Bu from belt wheel (74) with described first；Described
Two travelling gears (81) are Tong Bu with described second main pulley (82)；Described second main pulley (82)
Tong Bu from belt wheel (84) with described second.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510001744.XA CN104523306B (en) | 2015-01-05 | 2015-01-05 | A kind of approximation telecentricity fixed point mechanism for Minimally Invasive Surgery operation |
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| CN201510001744.XA CN104523306B (en) | 2015-01-05 | 2015-01-05 | A kind of approximation telecentricity fixed point mechanism for Minimally Invasive Surgery operation |
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| CN104523306A CN104523306A (en) | 2015-04-22 |
| CN104523306B true CN104523306B (en) | 2016-11-23 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863263B (en) * | 2015-12-11 | 2019-04-30 | 上海工程技术大学 | Decouple four-degree-of-freedom telecentricity mechanism |
| CN110393556B (en) * | 2019-06-17 | 2021-11-16 | 天津大学 | Small-scale telecentric fixed point mechanism for minimally invasive surgery operation |
| CN110882017B (en) * | 2019-12-05 | 2021-04-02 | 天津大学 | Bidirectional bending minimally invasive surgical instrument based on special-shaped gear transmission |
| CN114159106B (en) * | 2020-09-11 | 2024-03-22 | 苏州威森特医疗机器人有限公司 | Telecentric fixed point structure based on steel belt transmission for minimally invasive surgery |
| CN114533271B (en) * | 2021-09-13 | 2023-10-31 | 广西大学 | Single-hole minimally invasive surgery control system |
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