CN104546147A - RCM mechanism for mechanical arm of laparoscopic minimally invasive surgical robot - Google Patents
RCM mechanism for mechanical arm of laparoscopic minimally invasive surgical robot Download PDFInfo
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- CN104546147A CN104546147A CN201510079468.9A CN201510079468A CN104546147A CN 104546147 A CN104546147 A CN 104546147A CN 201510079468 A CN201510079468 A CN 201510079468A CN 104546147 A CN104546147 A CN 104546147A
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Abstract
The invention discloses an RCM mechanism for a mechanical arm of a laparoscopic minimally invasive surgical robot. The RCM mechanism disclosed by the invention comprises a connecting rod I, a connecting rod II, a connecting rod III, a connecting rod IV, a connecting rod V, a connecting rod VI, a linear motion output mechanism I, a linear motion output mechanism II, a rotation output mechanism and surgical instruments, wherein the six connecting rods form double parallelogram mechanisms. According to the RCM mechanism, motions of the surgical instruments including linear displacement freedom degree T, deflection freedom degree P and rotation freedom degree Y are correspondingly realized through the driving actions of the linear motion output mechanism I, the linear motion output mechanism II and the rotation output mechanism respectively; requirements of various freedom degrees to moment/torque of a driving mechanism are reduced through the double parallelogram mechanisms and the manner that the rotary centre axis of the rotation freedom degree Y and the connecting rod II form a certain included angle theta; the connecting rod III is directly pushed and pulled through the linear motion output mechanism II, so that the output moment/torque requirements to a freedom degree driving mechanism are reduced; and thus, the light weight and the miniaturization of the mechanical arm of the laparoscopic minimally invasive surgical robot are realized.
Description
Technical field
The invention belongs to robotics, be specifically related to a kind of peritoneoscope micro-wound operation robot mechanical arm RCM mechanism.
Background technology
Remote operating minimally-invasive surgery robot system can assist a physician meticulousr surgical action, because tired or hand tremble the damage caused when reducing operation.Simultaneously little, the healing of surgical injury is soon for patient brings more preferably surgical outcome.At present, Leonardo da Vinci's minimally-invasive surgery robot system (da Vinci System) of the U.S. is in wide clinical application.Miniaturization and low cost minimally-invasive surgery robot system are following development trends, and tactile force feedback plays extremely important effect in micro-wound surgical operation simultaneously.The miniaturization of surgical robot system can save working place, and installation and operation is convenient, but also proposes requirements at the higher level for surgical robot system mechanical arm miniaturization.
In peritoneoscope micro-wound operation robot technology, extremely important key component is exactly its distal movement center (Remote Center of Motion is called for short RCM) mechanism.The effect of RCM mechanism is to provide a distal movement central point, and this distal movement central point overlaps with Minimally Invasive Surgery otch, can guarantee that the operative incision of operating theater instruments and patient in minimal invasive surgical procedures is not pullled, ensure that operation safety.Due to the miniaturization that the miniaturization of RCM mechanism itself also will attach preoperative pendulum position arm, therefore the size of RCM mechanism affects the volume size of peritoneoscope minimally-invasive surgery robot system to a great extent.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of structure simple and there is miniaturization, light-weighted peritoneoscope micro-wound operation robot mechanical arm RCM mechanism.
For achieving the above object, the invention provides following technical scheme: a kind of peritoneoscope micro-wound operation robot mechanical arm RCM mechanism, comprise connecting rod I, connecting rod II, connecting rod III, connecting rod IV, connecting rod V, connecting rod VI, rectilinear motion output mechanism I, rectilinear motion output mechanism II, rotate output mechanism and operating theater instruments; Described rectilinear motion output mechanism I is arranged on connecting rod VI, described connecting rod I, connecting rod II and connecting rod V parallel, described connecting rod III, connecting rod IV and connecting rod VI parallel, described connecting rod I is hinged on connecting rod VI two ends respectively with connecting rod II one end, described connecting rod III is hinged on connecting rod V side respectively with connecting rod IV one end, the vacant end of described connecting rod I and the vacant end of connecting rod III are hinged, the vacant end of described connecting rod II and the vacant end of connecting rod IV are hinged, described connecting rod II is hinged with connecting rod III, and forms two parallel-crank mechanism after each rod hinge connection; Described rotation output mechanism is arranged on connecting rod V opposite side, and described rectilinear motion output mechanism II two ends are hinged on connecting rod III respectively with on connecting rod V, and described operating theater instruments is arranged on rectilinear motion output mechanism I.
Further, described connecting rod V is special-shaped connecting rod, comprises straight-bar portion and kink, and described connecting rod III and connecting rod IV one end are hinged on the side, straight-bar portion of connecting rod V respectively, and described rotation output mechanism is arranged on the kink side of connecting rod V.
Further, described rectilinear motion output mechanism I is corresponding with on rectilinear motion output mechanism II is provided with parts moving linearly I and parts moving linearly II, described operating theater instruments is arranged on parts moving linearly I, the external part of described parts moving linearly II is hinged on connecting rod III, and rectilinear motion output mechanism II bottom-hinged is on connecting rod V.
Further, described rotation output mechanism is hydraulic motor or air motor.
Further, described rotation output mechanism is servomotor.
Further, decelerator and brake is provided with between described servomotor and connecting rod V.
Further, described rectilinear motion output mechanism I and rectilinear motion output mechanism II are electric cylinder or hydraulic cylinder or pneumatic linear actuator or straight line slide unit.
Beneficial effect of the present invention is:
(1) rotary middle spindle of rotational freedom Y and connecting rod II form certain angle theta, when this rotary middle spindle and gravity direction inconsistent time, the torque portions that rotary middle spindle both sides weight is formed is offset, and reduces the output torque requirement to rotating output mechanism;
(2) rotary middle spindle of rotational freedom Y and connecting rod II form an angle θ, can reduce the rotary inertia in rotational freedom Y motor process, situation compared with parallel with connecting rod II with this rotary middle spindle, reduce the brake request of this degree of freedom;
(3) by rectilinear motion output mechanism II push-and-pull connecting rod III, compared with the situation deflecting degree of freedom P rotating shaft with motor direct-drive, the larger arm of force of this Structure composing, reduces the requirement to this degree of freedom driving mechanism power output/moment;
(4) reduce the requirement of each degree of freedom to driving mechanism power/moment of torsion, not only reduce cost and drop into, also realize lightweight and the miniaturization of peritoneoscope micro-wound operation robot mechanical arm further.
Accompanying drawing explanation
In order to make object of the present invention, technical scheme and beneficial effect clearly, the invention provides following accompanying drawing and being described:
Fig. 1 is structural representation of the present invention;
Fig. 2 is the motion schematic diagram of straight-line displacement degree of freedom T;
Fig. 3 is the motion schematic diagram of deflection degree of freedom P;
Fig. 4 is the motion schematic diagram of rotary freedom Y.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
As shown in Figure 1, peritoneoscope micro-wound operation robot mechanical arm RCM mechanism in the present invention, comprises connecting rod I 1, connecting rod II 2, connecting rod III 3, connecting rod IV 4, connecting rod V 5, connecting rod VI 6, rotates output mechanism 7, rectilinear motion output mechanism II 8, rectilinear motion output mechanism I 9 and operating theater instruments 10, described rectilinear motion output mechanism I 9 is arranged on connecting rod VI 6, described connecting rod I 1, connecting rod II 2 and connecting rod V 5 parallel, described connecting rod III 3, connecting rod IV 4 and connecting rod VI 6 parallel, described connecting rod I 1 is hinged on connecting rod VI 6 two ends respectively with connecting rod II 2 one end, described connecting rod III 3 is hinged on connecting rod V 5 side respectively with connecting rod IV 4 one end, the vacant end of described connecting rod I 1 and the vacant end of connecting rod III 3 are hinged, the vacant end of described connecting rod II 2 and the vacant end of connecting rod IV 4 are hinged, described connecting rod II 2 is hinged with connecting rod III 3, and after each rod hinge connection, form two parallel-crank mechanism, described rotation output mechanism 7 is arranged on connecting rod V 5 opposite side, and described rectilinear motion output mechanism II 8 two ends are hinged on connecting rod III 3 respectively with on connecting rod V 5, and described operating theater instruments 10 is arranged on rectilinear motion output mechanism I 9.
In the present embodiment, the two parallel-crank mechanism of six roots of sensation connecting rod composition, by the driving effect of rectilinear motion output mechanism II 8, realizes the interlock of two parallel-crank mechanism, and resulting belt apparatus 10 of having an operation realizes deflection.Its ultimate principle is: rectilinear motion output mechanism I 9 drives operating theater instruments 10 to realize the motion of straight-line displacement degree of freedom T, rectilinear motion output mechanism II 8 drives operating theater instruments 10 to realize the motion of deflection degree of freedom P by two parallel-crank mechanisms that connecting rod forms, and rotates output mechanism 7 realizes rotary freedom Y motion by connecting rod V 5.Rotary freedom Y, deflection degree of freedom P and straight-line displacement degree of freedom T three axes intersect, in a bit, form distal movement central point 11 (Remote Center of Motion is called for short RCM) mechanism.
Concrete, two parallel-crank mechanism forms a centre of motion point 11 determined, when rotating the rotation of output mechanism 7 drive link V 5, connecting rod V 5 forms a rotary middle spindle 12 by centre of motion point 11, as long as ensure during installation that the axis 17 of the operating theater instruments 10 on rectilinear motion output mechanism I 9 is through centre of motion point 11, the determination of distal movement central point can be realized, ensure that end-of-arm tooling can produce large-scale angle adjustment centered by this central point.Connecting rod V 5 is special-shaped connecting rod, comprises straight-bar portion 51 and kink 52, and described connecting rod III 3 and connecting rod IV 4 one end are hinged on the side, straight-bar portion 51 of connecting rod V 5 respectively, and described rotation output mechanism 7 is arranged on kink 52 side of connecting rod V 5; Adopt the connecting rod V 5 of this structure, can make to have angle theta between rotary middle spindle 12 and connecting rod II 2, this angle theta can reduce the rotary inertia in rotational freedom Y motor process, reduces the brake request of this degree of freedom; Meanwhile, because the torque portions that rotary middle spindle 12 both sides weight produces is offset, rotary freedom Y is also reduced to the output torque requirement of rotating output mechanism 7.
In the present embodiment, described rectilinear motion output mechanism I 9 is corresponding with on rectilinear motion output mechanism II 8 is provided with parts moving linearly I 16 and parts moving linearly II 14, described operating theater instruments 10 is arranged on parts moving linearly I 16, the external part of described parts moving linearly II 14 is hinged on connecting rod III 3 by turning cylinder 15, is hinged on connecting rod V 5 bottom rectilinear motion output mechanism II 8 by turning cylinder 13.Concrete, as shown in Figure 2, rectilinear motion output mechanism I 9 drives parts moving linearly I 16, and parts moving linearly I 16 drives operating theater instruments 10 to move up and down along axis 17, realizes the motion of operating theater instruments 10 straight-line displacement degree of freedom T; As shown in Figure 3, rectilinear motion output mechanism II 8 drives parts moving linearly II 14, the two parallel-crank mechanism of parts moving linearly II 14 tractive makes it carry out beat motion, the two parallel-crank mechanism tractive rectilinear motion output mechanisms I 9 swung, and then realize the motion that operating theater instruments 10 deflects degree of freedom P; As shown in Figure 4, rotate output mechanism 7 drive link V 5 and rotate around rotary middle spindle 12, connecting rod V 5 drives other coupled parts to be rotated simultaneously, and then realizes the motion of operating theater instruments 10 rotary freedom Y.
As the further improvement of such scheme, described rotation output mechanism 7 is hydraulic motor or air motor or servomotor, when adopting servomotor, between connecting rod V 5 and rotation output mechanism 7, decelerator and brake can be arranged according to practical situation, to adapt to different applicable cases.
As the further improvement of such scheme, described rectilinear motion output mechanism I 9 and rectilinear motion output mechanism II 8 are electric cylinder or hydraulic cylinder or pneumatic linear actuator or straight line slide unit, in the present embodiment, rectilinear motion output mechanism I 9 adopts straight line slide unit, rectilinear motion output mechanism II 8 adopts hydraulic cylinder, easy for installation, be easy to regulation and control; Certainly, the replacement of like product also can be carried out according to actual service condition.
What finally illustrate is, above preferred embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although by above preferred embodiment to invention has been detailed description, but those skilled in the art are to be understood that, various change can be made to it in the form and details, and not depart from claims of the present invention limited range.
Claims (7)
1. a peritoneoscope micro-wound operation robot mechanical arm RCM mechanism, is characterized in that: comprise connecting rod I, connecting rod II, connecting rod III, connecting rod IV, connecting rod V, connecting rod VI, rectilinear motion output mechanism I, rectilinear motion output mechanism II, rotate output mechanism and operating theater instruments; Described rectilinear motion output mechanism I is arranged on connecting rod VI, described connecting rod I, connecting rod II and connecting rod V parallel, described connecting rod III, connecting rod IV and connecting rod VI parallel, described connecting rod I is hinged on connecting rod VI two ends respectively with connecting rod II one end, described connecting rod III is hinged on connecting rod V side respectively with connecting rod IV one end, the vacant end of described connecting rod I and the vacant end of connecting rod III are hinged, the vacant end of described connecting rod II and the vacant end of connecting rod IV are hinged, described connecting rod II is hinged with connecting rod III, and forms two parallel-crank mechanism after each rod hinge connection; Described rotation output mechanism is arranged on connecting rod V opposite side, and described rectilinear motion output mechanism II two ends are hinged on connecting rod III respectively with on connecting rod V, and described operating theater instruments is arranged on rectilinear motion output mechanism I.
2. peritoneoscope micro-wound operation robot mechanical arm RCM mechanism according to claim 1, it is characterized in that: described connecting rod V is special-shaped connecting rod, comprise straight-bar portion and kink, described connecting rod III and connecting rod IV one end are hinged on the side, straight-bar portion of connecting rod V respectively, and described rotation output mechanism is arranged on the kink side of connecting rod V.
3. peritoneoscope micro-wound operation robot mechanical arm RCM mechanism according to claim 2, it is characterized in that: described rectilinear motion output mechanism I is corresponding with on rectilinear motion output mechanism II is provided with parts moving linearly I and parts moving linearly II, described operating theater instruments is arranged on parts moving linearly I, the external part of described parts moving linearly II is hinged on connecting rod III, and rectilinear motion output mechanism II bottom-hinged is on connecting rod V.
4. peritoneoscope micro-wound operation robot mechanical arm RCM mechanism according to claim 1, is characterized in that: described rotation output mechanism is hydraulic motor or air motor.
5. peritoneoscope micro-wound operation robot mechanical arm RCM mechanism according to claim 1, is characterized in that: described rotation output mechanism is servomotor.
6. peritoneoscope micro-wound operation robot mechanical arm RCM mechanism according to claim 5, is characterized in that: be provided with decelerator and brake between described servomotor and connecting rod V.
7. peritoneoscope micro-wound operation robot mechanical arm RCM mechanism according to claim 1, is characterized in that: described rectilinear motion output mechanism I and rectilinear motion output mechanism II are electric cylinder or hydraulic cylinder or pneumatic linear actuator or straight line slide unit.
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| CN201510079468.9A CN104546147A (en) | 2015-02-14 | 2015-02-14 | RCM mechanism for mechanical arm of laparoscopic minimally invasive surgical robot |
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| CN107280768A (en) * | 2017-07-13 | 2017-10-24 | 科易机器人技术（东莞）有限公司 | One kind operation auxiliary equipment |
| CN107756378A (en) * | 2017-11-20 | 2018-03-06 | 长沙理工大学 | A kind of planar three freedom rigid motion follower |
| CN108175508A (en) * | 2018-01-02 | 2018-06-19 | 廖容 | A kind of medical operating robot arm |
| CN109091236A (en) * | 2017-06-21 | 2018-12-28 | 山东威高手术机器人有限公司 | A kind of Minimally Invasive Surgery instrument auxiliary operation arm |
| CN109788994A (en) * | 2016-10-18 | 2019-05-21 | 直观外科手术操作公司 | Computer assisted remote operation surgery systems and method |
| CN110236677A (en) * | 2019-04-30 | 2019-09-17 | 汕头大学 | A kind of parallelogram sturcutre Minimally Invasive Surgery mechanical arm |
| CN110596491A (en) * | 2019-09-12 | 2019-12-20 | 安徽上造智能设备科技有限公司 | Cable aging detection device |
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| CN111166471A (en) * | 2020-01-09 | 2020-05-19 | 浙江理工大学 | Three-axis intersection type active and passive hybrid surgical endoscope holding arm |
| CN112237411A (en) * | 2020-05-26 | 2021-01-19 | 成都博恩思医学机器人有限公司 | Endoscope centre gripping quick detach mechanism |
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| CN112754662A (en) * | 2020-12-31 | 2021-05-07 | 北京科迈启元科技有限公司 | Variable-angle RCM (rotating center) actuating mechanism and surgical device |
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| CN108175508A (en) * | 2018-01-02 | 2018-06-19 | 廖容 | A kind of medical operating robot arm |
| CN110236677A (en) * | 2019-04-30 | 2019-09-17 | 汕头大学 | A kind of parallelogram sturcutre Minimally Invasive Surgery mechanical arm |
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| CN111035455A (en) * | 2019-12-31 | 2020-04-21 | 哈尔滨工业大学 | Venipuncture robot with decoupled position and posture |
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| WO2021147265A1 (en) * | 2020-01-23 | 2021-07-29 | 诺创智能医疗科技(杭州)有限公司 | Control method for surgical robot arm, computer device, and surgical robot arm |
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| CN113693690A (en) * | 2021-08-30 | 2021-11-26 | 广东工业大学 | Nuclear magnetic resonance compatible two-degree-of-freedom needle inserting angle adjusting mechanism for puncture surgery |
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Application publication date: 20150429 |