CN107157581A - A kind of decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery - Google Patents
A kind of decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery Download PDFInfo
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 72
- 230000001360 synchronised effect Effects 0.000 claims description 48
- 239000012636 effector Substances 0.000 abstract description 3
- 210000000683 abdominal cavity Anatomy 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000003786 synthesis reaction Methods 0.000 description 3
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- 230000003187 abdominal effect Effects 0.000 description 1
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- 238000001356 surgical procedure Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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Abstract
The present invention relates to a kind of decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery support endoscope, including frame, turning arm, guide track system, fixed point telecentricity movement branched chain, timing belt movement branched chain, turning arm is connected in frame by the first revolute pair, fixed point telecentricity movement branched chain is rotated with guide track system and is connected, and timing belt movement branched chain and fixed point telecentricity movement branched chain are connected between turning arm and endoscope；By the active movement campaign of turning arm, the active movement of telecentricity side chain and the active movement of timing belt movement branched chain are pinpointed, realizes that endoscope rotates one around the three of distant place pivot and moves three-degree-of-freedom motion.The present invention realizes the decoupling four-degree-of-freedom motion around distant place central rotation, except the motor to drive rotation is close to end, the other three motor is all realized away from end endoscope, so that helping the end effector mechanism quality of endoscope lighter, motional inertia is smaller, and there is provided stable enhanced abdominal cavity picture.
Description
Technical field
The present invention relates to a kind of Minimally Invasive Surgery mechanism, more particularly, to a kind of decoupling four selfs for external Minimally Invasive Surgery
By degree telecentricity mechanism.
Background technology
Parallel institution is widely used in the fields such as heavily loaded analog machine, robot, Digit Control Machine Tool, sensor and microoperation.
However, being coupling between each driver element of parallel institution, i.e., the motion of parallel institution overall output platform in either direction is all
It is the motion synthesis of all driver elements, and motion and the parallel institution mass motion (i.e. input and output) of each driver element
Between be nonlinear.This characteristic causes complicated parallel institution control, demarcation difficulty and the raising for constraining precision.Cause
How this, realize that parallel institution is decoupled, and simplify control and demarcation improve kinematic accuracy, are always a difficulty and rich challenge
The problem of property.
Mobile decoupling parallel robot refers to that any one free degree of output campaign all relies only on single driver element, other
Driver element action does not produce influence to this free degree.With full decoupled parallel institution movement relation is simple, demarcation is easy,
Control accuracy is high, rigidity is big, is had a extensive future in virtual axis machine and robot.
[Hunt K H.Structu ral Kinematics of In–Parallel-Actuated Robot Arms,
Journal of Mechanisms,Transmissions and Automation in Design,1983,105:705-
712] a kind of two rotation one-movement-freedom-degrees parallel institution is reported, mainly by frame, moving platform and frame is connected in and dynamic flat
Three structure type identical movement branched chains composition between platform, each movement branched chain is successively by revolute pair, prismatic pair, spherical hinge
And the rod member composition between them, and three movement branched chain space symmetr distributions.Document [Huang Z, Wang J.Fang Y
F,Analysis of Instantaneous Motions of Deficient-Rank 3-RPS Parallel
Manipulators.Mechanism and Machine Theory,2002,37(2):229-240.] report the type simultaneously
There is transient motion in online structure, the axis of its rotational freedom is existed only in a hyperboloid of one sheet.
Chinese patent literature CN101036986A is reported by moving platform, fixed platform and the four closed loops fortune for connecting them
The two of dynamic side chain composition rotate a mobile parallel connection mechanism, and every closed loop side chain contains six bar spherical mechanisms of a class symmetrical structure,
Moving platform and fixed platform are connected with every side chain with revolute pair.Document [Xianwen Kong, Clement M.Gosselin
Type synthesis of input-output decoupled parallel manipulators,Transactions
Of the CSME, Vol.28, Special Edition, 2004] in report with two one rotational DOF parallels of movement
Structure, is made up of moving platform, fixed platform and the mashed up movement branched chain of connection in series-parallel.Document [Li Huiliang, Jin Qiong, Yang Tingli, one class one
Translation two rotates decoupling parallel mechanism and its Displacement Analysis, machine-building and research, Feb 2002, (1):9-12,14] propose one
Plant two with trigonometric ratio Decoupling Characteristics and rotate a mobile parallel connection mechanisms, but the output free degree is not exclusively by single driver control
System, still falls within decoupling parallel mechanism, and full decoupled four-degree-of-freedom spherical mechanism document invention is not yet retrieved at present.
It is full decoupled simultaneously that Chinese patent CN104985610A discloses the rotation four-degree-of-freedom rotation movement of the movement of one kind one three
Online structure, including：Moving platform, pedestal and three side chains, wherein：One end of side chain is connected with base runner, the other end with
Moving platform is flexibly connected, and three described side chains are dual-rotational freedom side chain, wherein：At least one side chain and pedestal are one-dimensional
It is flexibly connected so that moving platform makees one-dimensional movement and makees spherical three-degree-of-freedom rotation around fixing point O；The rotation feature tool of moving platform
There is the characteristics of rotation is mobile full decoupled.The patent has three branched structure complexity, and structure is larger can be only applied to fixation
Place, therefore be badly in need of devise a kind of simple mechanical arm of single side chain be applied to help endoscope, operation in middle replacement people
Endoscope is helped, for improving the efficiency of operation, and it is simple in construction, it is convenient for carrying.
Medical personnel are often needed to help endoscope in traditional abdominal speculum surgical procedures.It is interior when human-body fatigue or shake
It is sight glass fuzzy pictures, unintelligible, directly affect the operation technique of doctor.Robot replaces artificial support endoscope, can mitigate guarantor
Demonstrate,prove the workload of medical personnel, it is ensured that clearly image, and reduce the fault rate and operating time of surgical.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind has three rotations
One one-movement-freedom-degree of the free degree, it is full decoupled, while realizing the decoupling for external Minimally Invasive Surgery of fixed point telecentricity motion
Four-degree-of-freedom telecentricity mechanism, can be for support endoscope.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery, to help endoscope, the mechanism includes
Frame, turning arm, guide track system, fixed point telecentricity movement branched chain, timing belt movement branched chain,
The turning arm is connected in frame by the first revolute pair,
Described fixed point telecentricity movement branched chain is rotated with guide track system and is connected,
Described timing belt movement branched chain and described fixed point telecentricity movement branched chain are connected between turning arm and endoscope；
By the active movement campaign of turning arm, the active movement of telecentricity side chain and the active movement of timing belt movement branched chain are pinpointed,
Realize that endoscope rotates one around the three of distant place pivot and moves three-degree-of-freedom motion.
Described turning arm includes the second revolute pair, the first rotary shaft, the 3rd revolute pair and the second rotary shaft；
The first described rotary shaft is rotated by the second revolute pair and turning arm and is connected, and described the second rotary shaft passes through the
Three revolute pairs are rotated with turning arm and are connected.
The pivot center of the first described revolute pair and the pivot center of the second revolute pair it is conllinear orthogonal and parallel to
Frame bottom surface；The second described revolute pair be arranged in parallel with the 3rd described revolute pair；The axis and endoscope of first revolute pair
Axis mutually give fixed point.
Described guide track system includes the 4th revolute pair, the 3rd rotary shaft, the 5th revolute pair, the 6th revolute pair, U-shaped connection
Block, guide rail installing plate, guide rail, sliding block, timing belt pressing plate, locating piece, tensioning apparatus and the 7th revolute pair；
The 3rd described rotary shaft is rotated by the 4th revolute pair and the 5th revolute pair with U-shaped contiguous block and is connected, described
Guide rail is fixedly connected with guide rail installing plate, and described sliding block is slidably connected with guide rail, and described timing belt pressing plate is fixed with sliding block
Connection, described block is fixed on guide rail installing plate, and described tensioning apparatus is slidably connected with guide rail installing plate.
Described fixed point telecentricity movement branched chain includes the 8th revolute pair, the 9th revolute pair, the first rod member, the second rod member, the
Ten revolute pairs, the 11st revolute pair, the 12nd revolute pair, the 3rd rod member, the 4th rod member；
First described rod member one end is rotated with the first rotary shaft by the 8th revolute pair and is connected, and the other end passes through the tenth turn
Dynamic secondary rotated with one end of the 3rd rod member is connected, and second rod member one end is fixedly connected by the 9th revolute pair with the second rotary shaft,
3rd rod member is rotated with the second rod member by the 11st revolute pair and is connected, and the 4th rod member one end passes through the 12nd revolute pair and second
Rod member rotates connection, fixed point telecentricity movement branched chain and guide track system by the other end of the 3rd rod member and the 4th rod member respectively through
5th revolute pair and the 6th revolute pair rotate connection.
Described timing belt movement branched chain includes the first synchronous pulley, the 4th rotary shaft, the second synchronous pulley, first synchronously
Band, the 3rd synchronous pulley, the second timing belt, the 4th synchronous pulley, the 5th synchronous pulley, the 3rd timing belt and the 6th timing belt
Wheel；
The first described synchronous pulley is fixedly connected with the first rotary shaft, and the 4th rotary shaft passes through the tenth revolute pair and first
Rod member rotates connection, and the second synchronous pulley and the 3rd synchronous pulley are fixedly connected with the 4th rotary shaft, and the first timing belt is installed
On the first belt wheel and the second belt wheel, the 4th synchronous pulley is fixedly connected with the first rotary shaft, and the second timing belt is arranged on the 3rd
On synchronous pulley and the 4th synchronous pulley, the 5th synchronous pulley is fixedly connected with the first rotary shaft, the 6th synchronous pulley and tensioning
Device is rotated by the 7th revolute pair and connected, and the 3rd timing belt is arranged on the 5th synchronous pulley and the 6th synchronous pulley.
Described endoscope is rotated with sliding block is connected realization moving and rotation along axis.
Described timing belt pressing plate and the 3rd timing belt is fixedly connected, and realizes the shifting of the rotational band movable slider of the 3rd timing belt
It is dynamic.
Described the first revolute pair, the second revolute pair, the top of the 3rd revolute pair and endoscope are separately provided motor, make
Obtain four frees degree to control by single active motor respectively, with full decoupled kinetic characteristic.
Compared with prior art, the present invention has advantages below：
(1) by movement branched chain synthesis, based on parallelogram and timing belt motion structure structure, multi-joint is realized
Decoupling driving；
(2) motor for controlling one-movement-freedom-degree is placed in robot frame, using toothed belt transmission, significantly reduces machine
The movement inertia of people end, effectively improves robot motion's flexibility；
(3) mechanism is all driven using revolute pair, and linear motion is converted rotational motion to using synchronous belt mechanism, it is to avoid
The motion-transmission manner of the rotation-movements such as ball screw, improves sport efficiency and transmission accuracy.
(4) the decoupling four-degree-of-freedom motion around distant place central rotation is realized, except to drive the motor of rotation close
End, the other three motor is all realized away from end endoscope, so that helping the end effector mechanism matter of endoscope
Amount is lighter, and motional inertia is smaller, and there is provided stable enhanced abdominal cavity picture.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the structural representation of the guide track system of the present invention.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.Following examples will be helpful to this area
Technical staff further understand the present invention, but the invention is not limited in any way.It should be pointed out that to the general of this area
For logical technical staff, without departing from the inventive concept of the premise, various modifications and improvements can be made.These are belonged to
Protection scope of the present invention.
Embodiment
It is for external minimally invasive specifically the present invention relates to the end effector mechanism peeped in being helped for Minimally Invasive Surgery
The decoupling four-degree-of-freedom telecentricity mechanism of operation, its structure is as shown in Figure 1.The mechanism has three rotational freedoms, one movement certainly
It is full decoupled by spending, while fixed point telecentricity motion is realized, including frame 1, turning arm 2, guide track system 3, fixed point telecentricity motion
Side chain 4, timing belt movement branched chain 5, endoscope 6.
Turning arm 2 is connected in frame 1 by the first revolute pair 11；Turning arm 2 is rotated including the second revolute pair 21, first
Axle 22, the 3rd revolute pair 23 and the second rotary shaft 24；Wherein the first rotary shaft 22 is rotated by the second revolute pair 21 and turning arm 2
Connection, the second rotary shaft 24 is rotated with turning arm 2 by the 3rd revolute pair 23 and is connected.
The structure of guide track system 3 as shown in Fig. 2 including the 4th revolute pair 31, the 3rd rotary shaft 32, the 5th revolute pair 33,
6th revolute pair 34, U-shaped contiguous block 35, guide rail installing plate 36, guide rail 37, sliding block 38, timing belt pressing plate 39, locating piece 310,
The tight revolute pair 312 of device 311 and the 7th；Wherein the 3rd rotary shaft 32 passes through four revolute pairs 31 and the 5th with U-shaped contiguous block 35
Revolute pair 33 rotates connection, and guide rail 37 is fixedly connected with guide rail installing plate 36, and sliding block 38 is slidably connected with guide rail 37, synchronous with pressure
Plate 39 is fixedly connected with sliding block 38, and block 310 is fixed on guide rail installing plate 36, and tensioning apparatus 311 is slided with guide rail installing plate 36
Dynamic connection.
Pinpoint telecentricity movement branched chain 4 include the 8th revolute pair 41, the 9th revolute pair 42, the rod member 44 of the first rod member 43 second,
Tenth revolute pair 45, the 11st revolute pair 46, the 12nd revolute pair 47, the 3rd rod member 48, the 4th rod member 49；Wherein the first rod member
43 one end is rotated with the first rotary shaft 22 by the 8th revolute pair 41 and is connected, and the other end passes through the tenth revolute pair 45 and the 3rd bar
One end of part 48 rotates connection, and one end of the second rod member 44 is fixedly connected by the 9th revolute pair 42 with the second rotary shaft 24, the
Three rod members 48 are rotated with the second rod member 44 by the 11st revolute pair 46 and are connected, and one end of the 4th rod member 49 is rotated by the 12nd
Pair 47 is rotated with the second rod member 44 and is connected, and fixed point telecentricity movement branched chain 4 passes through the 3rd rod member 48 and the 4th rod member with guide track system 3
49 other end is rotated respectively through the 5th revolute pair 33 and the 6th revolute pair 34 and connected.
It is same that timing belt movement branched chain 5 includes the first synchronous pulley 51, the 4th rotary shaft 52, the second synchronous pulley 53, first
Walk band 54, the 3rd synchronous pulley 55, the second timing belt 56, the 4th synchronous pulley 57, the 5th synchronous pulley 58, the 3rd timing belt 59
And the 6th synchronous pulley 510；Wherein the first synchronous pulley 51 is fixedly connected with the first rotary shaft 21, and the 4th rotary shaft 52 passes through
Tenth revolute pair 45 is rotated with the first rod member 43 and is connected, the second synchronous pulley 53 and the 3rd synchronous pulley 55 and the 4th rotary shaft 52
It is fixedly connected with, the first timing belt 54 is arranged on the first belt wheel 51 and the second belt wheel 53, the 4th synchronous pulley 57 and first turn
Moving axis 32 is fixedly connected, and the second timing belt 56 is arranged on the 3rd synchronous pulley 55 and the 4th synchronous pulley 57, the 5th timing belt
Wheel 58 is fixedly connected with the first rotary shaft 32, and the 6th synchronous pulley 510 is rotated with tensioning apparatus 311 by the 7th revolute pair 312
Connection, the 3rd timing belt 59 is arranged on the 5th synchronous pulley 58 and the 6th synchronous pulley 510.
Endoscope 6 is rotated with sliding block 38 and is connected, and can realize moving and rotation along axis；Timing belt pressing plate 39 and the 3rd
Timing belt 59 is fixedly connected, and realizes the movement of the rotational band movable slider 38 of the 3rd timing belt 59.
It is a feature of the present invention that the pivot center of this first revolute pair and the pivot center of the second revolute pair are collinearly mutual
Vertically and parallel to frame bottom surface；Second revolute pair is parallel to the 3rd revolute pair；The axis of first revolute pair and the axle of endoscope
Line mutually gives fixed point.Timing belt pressing plate and the 3rd timing belt are fixedly connected, and realize the shifting of the rotational band movable slider of the 3rd timing belt
It is dynamic.Endoscope is rotated with sliding block and is connected, and can realize moving and rotation along axis.First revolute pair, the second revolute pair, the 3rd
The top of revolute pair and endoscope is separately provided motor so that four frees degree are controlled by single active motor respectively, tool
There is full decoupled kinetic characteristic.
The operation principle of the present invention is as follows：
All it is provided with the first revolute pair 11, the second revolute pair 21, the 3rd revolute pair 23 and endoscope in the present invention
Motor.When the first revolute pair 21 is rotated, drive end endoscope 6 around the first revolute pair 11 and cross the axis turn of fixed point telecentricity
It is dynamic；When the second revolute pair 21 is rotated, driving end endoscope 6 is realized along axis and moved up and down；When the 3rd revolute pair 23 is rotated
The fixed point telecentricity motion of Shi Shixian endoscopes；When be arranged on endoscope tip motor rotate when, driving endoscope 6 around itself
Axis rotation.
The present invention realizes end endoscope and rotates movement four-freedom motion, and three around the three of distant place pivot
Individual rotational freedom and an one-movement-freedom-degree are controlled by single active motor respectively, with full decoupled kinetic characteristic.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (9)
1. a kind of decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery support endoscope, it is characterised in that the mechanism
Including frame, turning arm, guide track system, fixed point telecentricity movement branched chain, timing belt movement branched chain,
The turning arm is connected in frame by the first revolute pair,
Described fixed point telecentricity movement branched chain is rotated with guide track system and is connected,
Described timing belt movement branched chain and described fixed point telecentricity movement branched chain are connected between turning arm and endoscope；Pass through
The active movement campaign of turning arm, the active movement for pinpointing telecentricity side chain and the active movement of timing belt movement branched chain, are realized
Endoscope rotates one around the three of distant place pivot and moves three-degree-of-freedom motion.
2. a kind of decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery according to claim 1, its feature exists
In described turning arm includes the second revolute pair, the first rotary shaft, the 3rd revolute pair and the second rotary shaft；
The first described rotary shaft is rotated with turning arm by the second revolute pair and is connected, and the second described rotary shaft passes through the 3rd turn
Dynamic secondary rotated with turning arm is connected.
3. a kind of decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery according to claim 2, its feature exists
It is conllinear orthogonal and parallel to frame ground in, the pivot center of described the first revolute pair and the pivot center of the second revolute pair
Face；The second described revolute pair be arranged in parallel with the 3rd described revolute pair；The axis of first revolute pair and the axis of endoscope
Mutually give fixed point.
4. a kind of decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery according to claim 2, its feature exists
Include the 4th revolute pair, the 3rd rotary shaft in, described guide track system, the 5th revolute pair, the 6th revolute pair, U-shaped contiguous block, lead
Rail installing plate, guide rail, sliding block, timing belt pressing plate, locating piece, tensioning apparatus and the 7th revolute pair；
The 3rd described rotary shaft is rotated by the 4th revolute pair and the 5th revolute pair with U-shaped contiguous block and is connected, described guide rail
It is fixedly connected with guide rail installing plate, described sliding block is slidably connected with guide rail, described timing belt pressing plate is fixedly connected with a slide block,
Described block is fixed on guide rail installing plate, and described tensioning apparatus is slidably connected with guide rail installing plate.
5. a kind of decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery according to claim 4, its feature exists
In described fixed point telecentricity movement branched chain includes the 8th revolute pair, the 9th revolute pair, the first rod member, the second rod member, the tenth rotation
Pair, the 11st revolute pair, the 12nd revolute pair, the 3rd rod member, the 4th rod member；
First described rod member one end is rotated with the first rotary shaft by the 8th revolute pair and is connected, and the other end passes through the tenth revolute pair
Rotate and be connected with one end of the 3rd rod member, second rod member one end is fixedly connected by the 9th revolute pair with the second rotary shaft, the 3rd
Rod member is rotated with the second rod member by the 11st revolute pair and is connected, and the 4th rod member one end passes through the 12nd revolute pair and the second rod member
Connection is rotated, fixed point telecentricity movement branched chain is with guide track system by the other end of the 3rd rod member and the 4th rod member respectively through the 5th
Revolute pair and the 6th revolute pair rotate connection.
6. a kind of decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery according to claim 5, its feature exists
Include the first synchronous pulley, the 4th rotary shaft, the second synchronous pulley, the first timing belt, the in, described timing belt movement branched chain
Three synchronous pulleys, the second timing belt, the 4th synchronous pulley, the 5th synchronous pulley, the 3rd timing belt and the 6th synchronous pulley；
The first described synchronous pulley is fixedly connected with the first rotary shaft, and the 4th rotary shaft passes through the tenth revolute pair and the first rod member
Connection is rotated, the second synchronous pulley and the 3rd synchronous pulley be fixedly connected with the 4th rotary shaft, the first timing belt is installed in the
On one belt wheel and the second belt wheel, the 4th synchronous pulley is fixedly connected with the first rotary shaft, and it is synchronous that the second timing belt is arranged on the 3rd
On belt wheel and the 4th synchronous pulley, the 5th synchronous pulley is fixedly connected with the first rotary shaft, the 6th synchronous pulley and tensioning apparatus
Rotated and connected by the 7th revolute pair, the 3rd timing belt is arranged on the 5th synchronous pulley and the 6th synchronous pulley.
7. a kind of decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery according to claim 4, its feature exists
In described endoscope is rotated with sliding block is connected realization moving and rotation along axis.
8. a kind of decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery according to claim 6, its feature exists
In described timing belt pressing plate and the 3rd timing belt is fixedly connected, and realizes the movement of the rotational band movable slider of the 3rd timing belt.
9. a kind of decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery according to claim 2, its feature exists
Motor is separately provided in the top of, described the first revolute pair, the second revolute pair, the 3rd revolute pair and endoscope.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109009443A (en) * | 2018-08-15 | 2018-12-18 | 苏州大学张家港工业技术研究院 | Abdominal minimally invasive surgery robot |
| CN109528440A (en) * | 2018-10-23 | 2019-03-29 | 哈尔滨工业大学 | A kind of lower limb exoskeleton ankle-joint based on telecentricity mechanism |
| CN110236677A (en) * | 2019-04-30 | 2019-09-17 | 汕头大学 | A kind of parallelogram sturcutre Minimally Invasive Surgery mechanical arm |
| CN113116568A (en) * | 2021-04-08 | 2021-07-16 | 天津大学 | Series-parallel dental surgery robot structure |
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| CN110236677B (en) * | 2019-04-30 | 2024-04-30 | 汕头大学 | Parallelogram structure minimally invasive surgery mechanical arm |
| CN113116568A (en) * | 2021-04-08 | 2021-07-16 | 天津大学 | Series-parallel dental surgery robot structure |
| CN113598953A (en) * | 2021-08-17 | 2021-11-05 | 浙江理工大学 | Four-degree-of-freedom far-center mechanism for minimally invasive surgery |
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