CN106473809B - Three-degree-of-freedom parallel type hingeless surgical robot - Google Patents
Three-degree-of-freedom parallel type hingeless surgical robot Download PDFInfo
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- CN106473809B CN106473809B CN201610926181.XA CN201610926181A CN106473809B CN 106473809 B CN106473809 B CN 106473809B CN 201610926181 A CN201610926181 A CN 201610926181A CN 106473809 B CN106473809 B CN 106473809B
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- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004072 lung Anatomy 0.000 description 1
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Abstract
The invention discloses a three-degree-of-freedom parallel type hingeless surgical robot which comprises a tool bit, a tool rest for fastening the tool bit and a plurality of groups of telescopic tube units for driving the tool rest to move in three degrees of freedom, wherein each group of telescopic tube units is correspondingly provided with a driving module, and the tube body disturbance degree of each group of telescopic tube units is different. With this mechanism design, can drive the telescopic tube unit motion that has certain disturbance degree through the drive module that corresponds with the telescopic tube unit, and then change the tool bit that sets up in telescopic tube unit tip and carry out the operation in narrow regional space.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a three-degree-of-freedom parallel type hingeless surgical robot.
Background
Surgical robots (surgical robotics) are the most commonly used fields of robot products, the control precision is far higher than that of industrial robots, and as the robot body is required to be inserted into the body of a patient most of the time, the structure, the driving mode, the control mode and the materials used for the robot are all strictly required, the existing surgical robots mainly comprise rigid mechanical arms with rigid surgical cutters, the rigid mechanical arms are inserted into the body in a minimally invasive mode, and the conditions in the body of the patient are fed back to doctors for operation through remote vision in real time, but the problem that the rigid mechanical arms are the greatest in structure is that the rigid mechanical arms can only be used in relatively wide areas such as abdominal cavities of the body of the patient, and the operation is required to be performed in very narrow areas such as heart and lung areas, so that the existing surgical robots cannot meet the actual operation requirements.
Disclosure of Invention
The invention aims to provide a three-degree-of-freedom parallel type hingeless surgical robot suitable for surgical operation in a narrow space position.
To achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a three degree of freedom parallel type does not have hinge surgical robot, includes tool bit, is used for tool bit fastening's knife rest and is used for the drive the knife rest is a plurality of telescopic tube units of three degree of freedom movements, every group telescopic tube unit all corresponds and is provided with drive module, and every group telescopic tube unit's body degree of interference is different.
The telescopic tube unit comprises a positioning tube arranged on the outermost layer, a first telescopic tube connected with the inner wall of the positioning tube in a telescopic manner, and a second telescopic tube connected with the inner wall of the first telescopic tube in a telescopic manner, wherein the interference degrees of the first telescopic tube and the second telescopic tube are different.
The driving module comprises a first driving body used for driving the first telescopic tube to reciprocate along the positioning tube and a second driving body used for driving the second telescopic tube to reciprocate along the first telescopic tube.
The tail end of the second telescopic tube is fastened with one side wall of the tool rest.
The telescopic pipe units are arranged in three groups, and the tail ends of the second telescopic pipes of the three groups of telescopic pipe units are arranged at intervals in a triangle shape.
Wherein, the drive module is connected with an external control device.
The invention has the beneficial effects that: the telescopic sleeve comprises a cutter head, a cutter holder for fastening the cutter head and a plurality of groups of telescopic sleeve units for driving the cutter holder to move in three degrees of freedom, wherein each group of telescopic sleeve units is correspondingly provided with a driving module, and the pipe body disturbance degree of each group of telescopic sleeve units is different. With this mechanism design, can drive the telescopic tube unit motion that has certain disturbance degree through the drive module that corresponds with the telescopic tube unit, and then change the tool bit that sets up in telescopic tube unit tip and carry out the operation in narrow regional space.
Drawings
Fig. 1 is an isometric view of a three degree of freedom parallel hingeless surgical robot.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
Referring to fig. 1, a three-degree-of-freedom parallel type hingeless surgical robot in this embodiment includes a tool bit 1, a tool rest 2 for fastening the tool bit 1, and three groups of telescopic tube units 3 for driving the tool rest 2 to move in three degrees of freedom, where each group of telescopic tube units 3 is correspondingly provided with a driving module, and the tube body disturbance degrees of each group of telescopic tube units 3 are different.
Specifically, in this embodiment, the telescopic tube unit 3 includes a positioning tube 31 disposed on an outermost layer, a first telescopic tube 32 telescopically connected to an inner wall of the positioning tube 31, and a second telescopic tube 33 telescopically connected to an inner wall of the first telescopic tube 32, wherein the first telescopic tube 32 and the second telescopic tube 33 have different degrees of interference, and the driving module includes a first driving body for driving the first telescopic tube 32 to reciprocate along the positioning tube 31, and a second driving body for driving the second telescopic tube 33 to reciprocate along the first telescopic tube 32, and a tail end of the second telescopic tube 33 is fastened to a side wall of the tool rest 2.
The three-degree-of-freedom parallel type hingeless surgical robot adopting the structural design is characterized in that three groups of telescopic tube units 3 are connected with a tool rest and drive a first telescopic tube 32 and a second telescopic tube 33 to slide mutually through the action of a first driving body and a second driving body arranged in the telescopic tube units 3, and then drive a tool bit fastened on one side of the tool rest to have three degrees of freedom under the action of the three groups of telescopic tube units 3, so that the tool bit can perform surgical operation in a narrow space, the first driving body and the second driving body in the embodiment are matched with a screw rod pair by adopting a miniature servo motor and then are connected with the telescopic tubes for driving, and the structure is quite common in medical equipment and is not repeated.
In this embodiment, the ends of the second telescopic tubes 33 of the three groups of telescopic tube units 3 are arranged at intervals in a triangle shape. So that the force of the tool rest is more balanced.
The driving module in this embodiment adopts a micro servo motor to drive, and the micro servo motor is connected with an external control device. The control device adopts a PLC as a main control unit, realizes real-time communication response with a robot control system through an I/O input/output signal of the control device, and then sends a high-frequency pulse signal to a servo controller of the micro servo motor through an output end to accurately control parameters such as the rotation angle, the speed and the like of the micro servo motor in the telescopic tube, thereby realizing coordination and consistency of adjacent telescopic tube units.
The technical principle of the present invention is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the invention and should not be taken in any way as limiting the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.
Claims (4)
1. A three-degree-of-freedom parallel type hingeless surgical robot is characterized in that: the telescopic sleeve comprises a cutter head, a cutter rest used for fastening the cutter head and a plurality of groups of telescopic sleeve units used for driving the cutter rest to move in three degrees of freedom, wherein each group of telescopic sleeve units is correspondingly provided with a driving module, and the pipe body disturbance degree of each group of telescopic sleeve units is different;
the telescopic tube unit comprises a positioning tube arranged on the outermost layer, a first telescopic tube connected with the inner wall of the positioning tube in a telescopic manner, and a second telescopic tube connected with the inner wall of the first telescopic tube in a telescopic manner, wherein the interference degrees of the first telescopic tube and the second telescopic tube are different;
the driving module comprises a first driving body for driving the first telescopic tube to reciprocate along the positioning tube and a second driving body for driving the second telescopic tube to reciprocate along the first telescopic tube; the driving module is driven by a miniature servo motor.
2. A three degree of freedom parallel hingeless surgical robot as claimed in claim 1, wherein: the tail end of the second telescopic tube is fastened with one side wall of the tool rest.
3. A three degree of freedom parallel hingeless surgical robot as claimed in claim 1, wherein: the telescopic tube units are arranged in three groups, and the tail ends of the second telescopic tubes of the three groups of telescopic tube units are arranged at intervals in a triangle shape.
4. A three degree of freedom parallel hingeless surgical robot as claimed in claim 1, wherein: the driving module is connected with an external control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610926181.XA CN106473809B (en) | 2016-10-24 | 2016-10-24 | Three-degree-of-freedom parallel type hingeless surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610926181.XA CN106473809B (en) | 2016-10-24 | 2016-10-24 | Three-degree-of-freedom parallel type hingeless surgical robot |
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| Publication Number | Publication Date |
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| CN106473809A CN106473809A (en) | 2017-03-08 |
| CN106473809B true CN106473809B (en) | 2023-11-14 |
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| CN201610926181.XA Active CN106473809B (en) | 2016-10-24 | 2016-10-24 | Three-degree-of-freedom parallel type hingeless surgical robot |
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Citations (7)
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|---|---|---|---|---|
| US4732525A (en) * | 1985-05-10 | 1988-03-22 | Neos Product Hb | Robot |
| WO2003099152A1 (en) * | 2002-05-28 | 2003-12-04 | Calabrian High Tech S.R.L. | Navigator-robot for surgical procedures |
| CN1739926A (en) * | 2005-09-15 | 2006-03-01 | 天津大学 | Multi-coordinate serioparallel robot with redundant freedom |
| JP2010220685A (en) * | 2009-03-19 | 2010-10-07 | Olympus Corp | Manipulator |
| CN203245875U (en) * | 2013-03-27 | 2013-10-23 | 北京工业大学 | Control device of planar three-degree-of-freedom parallel robot with flexible hinges |
| CN104786212A (en) * | 2015-05-13 | 2015-07-22 | 哈尔滨工业大学 | Parallel mechanism capable of performing spatial apocenter movement |
| CN206482665U (en) * | 2016-10-24 | 2017-09-12 | 北京华巍中兴电气有限公司 | A kind of freedom degree parallel connection formula hinge-less operating robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4364634B2 (en) * | 2001-07-13 | 2009-11-18 | ブルックス オートメーション インコーポレイテッド | Trajectory planning and movement control strategy of two-dimensional three-degree-of-freedom robot arm |
| US8755864B2 (en) * | 2004-05-28 | 2014-06-17 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic surgical system and method for diagnostic data mapping |
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2016
- 2016-10-24 CN CN201610926181.XA patent/CN106473809B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4732525A (en) * | 1985-05-10 | 1988-03-22 | Neos Product Hb | Robot |
| WO2003099152A1 (en) * | 2002-05-28 | 2003-12-04 | Calabrian High Tech S.R.L. | Navigator-robot for surgical procedures |
| CN1739926A (en) * | 2005-09-15 | 2006-03-01 | 天津大学 | Multi-coordinate serioparallel robot with redundant freedom |
| JP2010220685A (en) * | 2009-03-19 | 2010-10-07 | Olympus Corp | Manipulator |
| CN203245875U (en) * | 2013-03-27 | 2013-10-23 | 北京工业大学 | Control device of planar three-degree-of-freedom parallel robot with flexible hinges |
| CN104786212A (en) * | 2015-05-13 | 2015-07-22 | 哈尔滨工业大学 | Parallel mechanism capable of performing spatial apocenter movement |
| CN206482665U (en) * | 2016-10-24 | 2017-09-12 | 北京华巍中兴电气有限公司 | A kind of freedom degree parallel connection formula hinge-less operating robot |
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| CN106473809A (en) | 2017-03-08 |
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