CN104758012A - Tail end instrument for single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees - Google Patents
Tail end instrument for single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees Download PDFInfo
- Publication number
- CN104758012A CN104758012A CN201510160843.2A CN201510160843A CN104758012A CN 104758012 A CN104758012 A CN 104758012A CN 201510160843 A CN201510160843 A CN 201510160843A CN 104758012 A CN104758012 A CN 104758012A
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- directive wheel
- joint
- axle
- around
- lever
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Classifications
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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
-
- 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
- A61B2017/00238—Type of minimally invasive operation
-
- 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
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
- A61B2017/00473—Distal part, e.g. tip or head
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a tail end instrument for a single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees, and relates to a minimally invasive surgery robot. The tail end instrument for the single port laparoscopy minimally invasive surgery flexible robot with the multiple freedom degrees solves the problems that an existing tail end instrument for the single port laparoscopy surgery robot is low in overall integration level, simple, and large in overall size, and can not completely achieve the freedom degrees similar to a person. A forth motor achieves axial rotation motion for a wrist pivoting joint through a forth joint drive wire. A fifth motor achieves pitching motion for the wrist pivoting joint through a fifth joint drive wire. A sixth motor achieves opening and closing motion for a first gripping forceps joint through a sixth joint drive wire. A seventh motor achieves opening and closing motion for a second gripping forceps joint through a seventh drive joint drive wire. The tail end instrument for the single port laparoscopy minimally invasive surgery flexible robot with the multiple freedom degrees is used in single port laparoscopy minimally invasive surgery.
Description
Technical field
The present invention relates to a kind of multiple degrees of freedom flexible robot end apparatus for single hole abdominal-cavity minimal-invasion surgery, belong to operating robot technical field.
Background technology
The operating theater instruments be applied at present on the minimally invasive surgical operation robot of main flow all needs special interface module, and the overall dimensions of instrument portions is larger, it is distant that axle turns joint and end wrist joint and gripper clamp joint, cannot be applied directly in single hole abdominal minimally invasive surgery robot.And current most single hole abdominal minimally invasive surgery robot is also immature for the design of end operating theater instruments, need to be placed on instrument end because the axle in end apparatus turns degree of freedom, in order to reduce the overall dimensions of robot and reduce the control complexity of robot, the degree of freedom serious loss of end apparatus, apparatus is too simple, cannot realize completely anthropomorphic degree of freedom, and the overall dimensions of the end apparatus enriched for degree of freedom is larger.
Summary of the invention
The object of this invention is to provide a kind of end apparatus for single hole abdominal-cavity minimal-invasion surgery robot, not high with the over all Integration degree solving existing single hole abdominal operation robot end apparatus, instrument portions is too simple, anthropomorphic degree of freedom cannot be realized completely, and the problem that overall dimensions is larger.
The present invention solves the problems of the technologies described above the technical scheme taked to be: described robot comprises walk around lever, axle of axle and turns fixed bar, wrist threading bucket, wrist axes, the first gripper clamp directive wheel, the first gripper clamp joint, the second gripper clamp directive wheel, the second gripper clamp joint and carpal joint
One end that one end of flexible arm and axle turn fixed bar is affixed, axle turns the other end of fixed bar and axle lever of walking around and is rotationally connected, axle walk around the other end of lever and wrist threading bucket affixed, wrist axes is through a pair engaging lug of wrist threading bucket, carpal one end is contained in wrist axes, and the carpal other end is built with the first gripper clamp joint and the second gripper clamp joint;
4th joint drive silk one through walk around after flexible arm wrist axes turn directive wheel after affixed around axle thread groove in lever and axle lever of walking around of walking around;
4th joint drive silk two through walk around after flexible arm wrist axes turn directive wheel after affixed around axle thread groove in lever and axle lever of walking around of walking around;
5th joint drive silk one through flexible arm and through axle walk around lever center cavity after walk around the first wrist separated time wheels and carpal mounting ear is connected;
5th joint drive silk two is through walking around the second wrist separated time wheels and carpal other end mounting ear is affixed through the walk around center cavity of lever of axle after flexible arm;
6th joint drive silk one through after flexible arm and through axle walk around lever center cavity after walk around the 3rd wrist separated time wheels, then after walking around a first gripper clamp directive wheel, more affixed with the mounting ear in the first gripper clamp joint,
6th joint drive silk two is through after flexible arm and after walking around and walk around another the first gripper clamp directive wheel remaining through axle after the center cavity of lever walks around directive wheel, affixed with the other end mounting ear in the first gripper clamp joint;
7th joint drive silk one is through flexible arm and after walking around and walk around a second gripper clamp directive wheel through axle after the center cavity of lever walks around directive wheel, affixed with the mounting ear in the second gripper clamp joint,
7th joint drive silk two is through after flexible arm and after walking around and walk around another the second gripper clamp directive wheel remaining through axle after the center cavity of lever walks around directive wheel, affixed with the other end mounting ear in the second gripper clamp joint.
The present invention has following beneficial effect: setting tool of the present invention has 4 degree of freedom to carry out end operation technique.Instrument portions has 4 completely anthropomorphic degree of freedom, maximum outside diameter 10mm, and enters in body by single hole, decreases the wound number of patient, reduces the misery of patient, enhances operability and the precision of operating robot.
Accompanying drawing explanation
Fig. 1 is overall structure axonometric chart figure, Fig. 2 of the present invention is the structure sectional view that axle turns joint, and Fig. 3 is the structural representation of wrist threading bucket, and Fig. 4 is the top view of Fig. 3.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Fig. 4 illustrates present embodiment, the robot of present embodiment comprises walk around lever 3, axle of axle and turns fixed bar 4, wrist threading bucket 5, gripper clamp directive wheel 9, second gripper clamp joint 10, wrist axes 6, first gripper clamp directive wheel 7, first gripper clamp joint 8, second and carpal joint 13
One end that one end of flexible arm and axle turn fixed bar 4 is affixed, axle turns the other end of fixed bar 4 and axle lever 3 of walking around and is rotationally connected, axle walk around the other end of lever 3 and wrist threading bucket 5 affixed, wrist axes 6 is through a pair engaging lug of wrist threading bucket 5, one end of carpal joint 13 is contained in wrist axes 6, and the other end of carpal joint 13 is built with the first gripper clamp joint 8 and the second gripper clamp joint 10;
4th joint drive silk one through walk around after flexible arm wrist axes turn directive wheel 2-2 after affixed around axle thread groove 3-2 in lever and axle lever 3 of walking around of walking around;
4th joint drive silk two through walk around after flexible arm wrist axes turn directive wheel 2-1 after affixed around axle thread groove 3-1 in lever and axle lever 3 of walking around of walking around;
5th joint drive silk one through flexible arm and through axle walk around lever 3 center cavity after walk around the first wrist separated time wheels and carpal joint 13 mounting ear be connected;
To walk around the other end mounting ear of the second wrist separated time wheels and carpal joint 13 affixed for the center cavity of lever 3 through walking around after flexible arm and through axle for 5th joint drive silk two;
6th joint drive silk one through after flexible arm and through axle walk around lever 3 center cavity after walk around the 3rd wrist separated time wheels, then after walking around a first gripper clamp directive wheel 7-1, more affixed with the mounting ear in the first gripper clamp joint 9,
6th joint drive silk two is through after flexible arm and after walking around and walk around remaining another the first gripper clamp directive wheel 7-1 through axle after the center cavity of lever 3 walks around directive wheel, affixed with the other end mounting ear in the first gripper clamp joint 9;
7th joint drive silk one is through flexible arm and after walking around and walk around a second gripper clamp directive wheel 9-1 through axle after the center cavity of lever 3 walks around directive wheel, affixed with the mounting ear in the second gripper clamp joint 10,
7th joint drive silk two is through after flexible arm and after walking around and walk around remaining another the second gripper clamp directive wheel 9-1 through axle after the center cavity of lever 3 walks around directive wheel, affixed with the other end mounting ear in the second gripper clamp joint 10.
Detailed description of the invention two: composition graphs 1 and Fig. 3 illustrate present embodiment, the wrist threading bucket 5 of present embodiment makes one by base 5-1 and two engaging lug 5-2, base 5-1 is provided with the first directive wheel fixed leg 5-3, second directive wheel fixed leg 5-4, 3rd directive wheel fixed leg 5-5 and the 4th directive wheel fixed leg 5-6, the inwall of the first directive wheel fixed leg 5-3 is provided with two directive wheels one, the inwall of the second directive wheel fixed leg 5-4 is provided with a directive wheel two, the sidewall of the second fixed guide fixed column 5-4 is provided with two directive wheels five, the inwall of the 3rd directive wheel fixed leg 5-5 is provided with two directive wheels three, the inwall of the 4th directive wheel fixed leg 5-6 is provided with a directive wheel four, the sidewall of the 4th directive wheel fixed leg 5-6 is provided with two directive wheels six, the height of the first directive wheel fixed leg 5-3 is 5mm, the height of the second directive wheel fixed leg 5-4 is 10mm, the height of the 3rd directive wheel fixed leg 5-5 is 5mm, the height of the 4th directive wheel fixed leg 5-6 is 10mm.The advantage of said structure be 6 of making to be passed by wrist threading bucket center by this series guiding wheels drive silks can respectively with instrument wrist joint and two gripper clamps and the reel of each articulation center tangent, ensure smooth and easy current in joint motions process of silk, by this part-structure, can under the prerequisite meeting end free degree, realize the miniaturization of end apparatus, and reduce Zhou Zhuan joint, front end drives silk layout impact on end.Other embodiment is identical with detailed description of the invention one.
Detailed description of the invention three: the axle of present embodiment is walked around lever 3, and axle turns fixed bar 4, and gripper clamp joint 10, end threading bucket 5, first gripper clamp joint 9, second all adopts 1Cr18Ni9 material.The above-mentioned all parts of advantage of said structure all need to contact with tissue, adopt this type of material to meet the requirement of human body to material.Other embodiment is identical with detailed description of the invention one.
Operation principle: the 4th motor realizes by the 4th joint drive silk axial rotation motion wrist axes being turned to joint, 5th motor realizes the elevating movement to wrist joint by the 5th joint drive silk, 6th motor realizes the opening and closing campaign to the first gripper clamp joint by the 6th joint drive silk, and the 7th motor realizes the opening and closing campaign to the second gripper clamp joint by the 7th joint drive silk.
Claims (3)
1. the end apparatus for single hole abdominal-cavity minimal-invasion surgery multiple degrees of freedom flexible robot, it is characterized in that described robot comprises walk around lever (3), axle of axle and turns fixed bar (4), wrist threading bucket (5), wrist axes (6), the first gripper clamp directive wheel (7), the first gripper clamp joint (8), the second gripper clamp directive wheel (9), the second gripper clamp joint (10) and carpal joint (13)
One end that one end of flexible arm and axle turn fixed bar (4) is affixed, axle turns the other end of fixed bar (4) and axle lever (3) of walking around and is rotationally connected, axle walk around the other end of lever (3) and wrist threading bucket (5) affixed, wrist axes (6) is through a pair engaging lug of wrist threading bucket (5), one end of carpal joint (13) is contained in wrist axes (6), and the other end of carpal joint (13) is built with the first gripper clamp joint (8) and the second gripper clamp joint (10);
4th joint drive silk one is affixed through walking around the thread groove (3-2) of walking around in lever around axle after wrist axes turns directive wheel (2-2) and axle lever (3) of walking around after flexible arm;
4th joint drive silk two is affixed through walking around the thread groove (3-1) of walking around in lever around axle after wrist axes turns directive wheel (2-1) and axle lever (3) of walking around after flexible arm;
5th joint drive silk one through flexible arm and through axle walk around lever (3) center cavity after walk around the first wrist separated time wheels and carpal joint (13) mounting ear be connected;
To walk around the other end mounting ear of the second wrist separated time wheels and carpal joint (13) affixed for the center cavity of lever (3) through walking around after flexible arm and through axle for 5th joint drive silk two;
6th joint drive silk one through after flexible arm and through axle walk around lever (3) center cavity after walk around the 3rd wrist separated time wheels, after walking around a first gripper clamp directive wheel (7-1) again, affixed with the mounting ear in the first gripper clamp joint (9) again
6th joint drive silk two is through after flexible arm and after walking around and walk around another the first gripper clamp directive wheel (7-1) remaining through axle after the center cavity of lever (3) walks around directive wheel, affixed with the other end mounting ear in the first gripper clamp joint (9);
7th joint drive silk one is through flexible arm and after walking around and walk around a second gripper clamp directive wheel (9-1) through axle after the center cavity of lever (3) walks around directive wheel, affixed with the mounting ear in the second gripper clamp joint (10),
7th joint drive silk two is through after flexible arm and after walking around and walk around another the second gripper clamp directive wheel (9-1) remaining through axle after the center cavity of lever (3) walks around directive wheel, affixed with the other end mounting ear in the second gripper clamp joint (10).
2. a kind of end apparatus for single hole abdominal-cavity minimal-invasion surgery multiple degrees of freedom flexible robot according to claim 1, it is characterized in that wrist threading bucket (5) makes one by base (5-1) and two engaging lugs (5-2), base (5-1) is provided with the first directive wheel fixed leg (5-3), second directive wheel fixed leg (5-4), 3rd directive wheel fixed leg (5-5) and the 4th directive wheel fixed leg (5-6), the inwall of the first directive wheel fixed leg (5-3) is provided with two directive wheels one, the inwall of the second directive wheel fixed leg (5-4) is provided with a directive wheel two, the sidewall of the second fixed guide fixed column (5-4) is provided with two directive wheels five, the inwall of the 3rd directive wheel fixed leg (5-5) is provided with two directive wheels three, the inwall of the 4th directive wheel fixed leg (5-6) is provided with a directive wheel four, the sidewall of the 4th directive wheel fixed leg (5-6) is provided with two directive wheels six, the height of the first directive wheel fixed leg (5-3) is 5mm, the height of the second directive wheel fixed leg (5-4) is 10mm, the height of the 3rd directive wheel fixed leg (5-5) is 5mm, the height of the 4th directive wheel fixed leg (5-6) is 10mm.
3. a kind of end apparatus for single hole abdominal-cavity minimal-invasion surgery multiple degrees of freedom flexible robot according to claim 1 or 2, it is characterized in that axle is walked around lever (3), axle turns fixed bar (4), end threading bucket (5), the first gripper clamp joint (9), the second gripper clamp joint (10) all adopt 1Cr18Ni9 material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510160843.2A CN104758012B (en) | 2015-04-07 | 2015-04-07 | Tail end instrument for single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510160843.2A CN104758012B (en) | 2015-04-07 | 2015-04-07 | Tail end instrument for single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104758012A true CN104758012A (en) | 2015-07-08 |
| CN104758012B CN104758012B (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510160843.2A Active CN104758012B (en) | 2015-04-07 | 2015-04-07 | Tail end instrument for single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106214258A (en) * | 2016-07-12 | 2016-12-14 | 天津大学 | A kind of dexterous wrist mechanism for single hole minimally invasive robot |
| CN108498173A (en) * | 2018-03-09 | 2018-09-07 | 深圳市精锋医疗科技有限公司 | Motion arm with rotatable end instrument, from operation equipment and operating robot |
| CN109452976A (en) * | 2018-12-28 | 2019-03-12 | 北京术锐技术有限公司 | A kind of flexible operation tool system |
| CN109922751A (en) * | 2016-11-08 | 2019-06-21 | Cmr外科有限公司 | For robots arm to be fixed to the attachment structure of support construction |
| CN110680413A (en) * | 2019-09-16 | 2020-01-14 | 北京明宣生物技术有限公司 | Manual three-degree-of-freedom micro-manipulator for minimally invasive surgery |
| CN112716564A (en) * | 2020-12-31 | 2021-04-30 | 杭州康基医疗器械有限公司 | Large-swing-angle single-joint surgical instrument |
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| CN102028548A (en) * | 2011-01-14 | 2011-04-27 | 哈尔滨工业大学 | Clamp-type surgical instrument for abdominal cavity minimally invasive surgery robot |
| CN102488554A (en) * | 2011-11-14 | 2012-06-13 | 天津大学 | Micro instrument terminal based on module joint and used for minimally invasive surgery robot |
| CN102697564A (en) * | 2012-06-20 | 2012-10-03 | 哈尔滨工业大学 | Flexible-arm robot for single-pore laparoscopic minimally-invasive operation |
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| CN104434318A (en) * | 2014-12-17 | 2015-03-25 | 上海交通大学 | Surgical instrument tail end structure of minimally invasive surgery robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106214258A (en) * | 2016-07-12 | 2016-12-14 | 天津大学 | A kind of dexterous wrist mechanism for single hole minimally invasive robot |
| CN106214258B (en) * | 2016-07-12 | 2018-06-22 | 天津大学 | A kind of dexterous wrist mechanism for single hole minimally invasive robot |
| CN109922751A (en) * | 2016-11-08 | 2019-06-21 | Cmr外科有限公司 | For robots arm to be fixed to the attachment structure of support construction |
| CN108498173A (en) * | 2018-03-09 | 2018-09-07 | 深圳市精锋医疗科技有限公司 | Motion arm with rotatable end instrument, from operation equipment and operating robot |
| CN109452976A (en) * | 2018-12-28 | 2019-03-12 | 北京术锐技术有限公司 | A kind of flexible operation tool system |
| CN112842534A (en) * | 2018-12-28 | 2021-05-28 | 北京术锐技术有限公司 | Surgical tool system |
| CN112842534B (en) * | 2018-12-28 | 2024-03-29 | 北京术锐机器人股份有限公司 | Surgical tool system |
| CN110680413A (en) * | 2019-09-16 | 2020-01-14 | 北京明宣生物技术有限公司 | Manual three-degree-of-freedom micro-manipulator for minimally invasive surgery |
| CN112716564A (en) * | 2020-12-31 | 2021-04-30 | 杭州康基医疗器械有限公司 | Large-swing-angle single-joint surgical instrument |
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