CN107320195B - A kind of tandem type Minimally Invasive Surgery main manipulator - Google Patents
A kind of tandem type Minimally Invasive Surgery main manipulator Download PDFInfo
- Publication number
- CN107320195B CN107320195B CN201710714335.3A CN201710714335A CN107320195B CN 107320195 B CN107320195 B CN 107320195B CN 201710714335 A CN201710714335 A CN 201710714335A CN 107320195 B CN107320195 B CN 107320195B
- Authority
- CN
- China
- Prior art keywords
- joint
- driving
- line
- group
- driving motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- A61B34/37—Master-slave robots
-
- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of tandem type Minimally Invasive Surgery main manipulators, including support frame, pedestal, position adjusting mechanism, attitude-adjusting system and clamping device；Pedestal is arranged on the support frame, and one end of position adjusting mechanism is connected with pedestal, and the other end is connected with attitude-adjusting system, and clamping device is arranged on attitude-adjusting system；Wherein, counterweight is respectively arranged on the rotary joint of the rotary joint of position adjusting mechanism, the rotary joint of attitude-adjusting system and clamping device, each counterweight is used for the gravity compensation to each rotary joint, to realize the levitated equilibrium of each rotary joint, and only feedback operation power and the torque driving of responsible corresponding component respectively of the driving device of position adjusting mechanism, attitude-adjusting system and clamping device.This programme realizes the gravity compensation of main manipulator using counterweight, and motor is only responsible for feedback operation power and torque, to improve force feedback precision.
Description
Technical field
The present invention relates to surgical operation robot technical fields, more particularly, to a kind of tandem type Minimally Invasive Surgery main operation
Hand.
Background technique
With progress, the development of medical technology and the beneficial fusion of technology between the two of science and technology, with da
Vinci Surgical System is that the robot assisted system of representative is widely used in Minimally Invasive Surgery.Wherein, micro-
Invasive procedures robot main manipulator has a very important role in Minimally Invasive Surgery, and surgeon passes through it in the course of surgery
It controls surgical operating instrument and completes the movements such as shearing, knotting.
Force feedback main manipulator currently on the market is directed to general application, and configuration design and working space are not
Meet Minimally Invasive Surgery needs, the main hand structure design of the operation in commercial minimally-invasive surgery robot system meets operation and wants
It asks, but does not have force feedback function.Application No. is CN201410284253 to disclose a kind of " full passive-type six degree of freedom main operation
Hand " is integrally passive structure, does not have force feedback function.Application No. is the Chinese patents of CN104622575A to disclose " one
Kind of the micro-wound operation robot main manipulator based on wire rope gearing ", can feedback space six-dimensional force and torque, but open-and-close mechanism
There is no motor driven, instrument chucking power can not be fed back, in addition wrist transmission mechanism only has three degree of freedom, is easy in operating process
In encounter singular point, be unfavorable for whole flexibility, the force feedback performance near singular point is also poor.
Summary of the invention
It is an object of the present invention to provide a kind of tandem type Minimally Invasive Surgery main manipulators, at least to solve existing skill
One of technical problem present in art.
To achieve the goals above, the present invention provides following technical schemes；
The present invention provides a kind of tandem type Minimally Invasive Surgery main manipulator, including support frame, pedestal, position adjusting mechanism,
Attitude-adjusting system and clamping device；
The pedestal is arranged on support frame as described above, and one end of the position adjusting mechanism is connected with the pedestal, separately
One end is connected with the attitude-adjusting system, and the clamping device is arranged on the attitude-adjusting system；
Wherein, the rotary joint and clamping device of the rotary joint of the position adjusting mechanism, the attitude-adjusting system
Rotary joint on be respectively arranged with counterweight, each counterweight is used for the gravity compensation to each rotary joint, with reality
The now levitated equilibrium of each rotary joint, and the driving device of the position adjusting mechanism, attitude-adjusting system and clamping device
Only feedback operation power and the torque driving of responsible corresponding component respectively.
In the above-mentioned technical solutions, further, the position adjusting mechanism includes the first articulation mechanism, second joint machine
Structure and third articulation mechanism；
First articulation mechanism and the perpendicular connection of the pedestal, one end of the second joint mechanism and described first
Articulation mechanism rotates connection, and the other end is connected with the third articulation mechanism, and is connected in the second joint mechanism
Second counterweight, third counterweight is provided on the third articulation mechanism, and second counterweight is used to close to described second
The gravity compensation of section mechanism makes its levitated equilibrium, and the third counterweight is for making the gravity compensation of the third articulation mechanism
Its levitated equilibrium.
In any of the above-described technical solution, further, first articulation mechanism includes the first absolute value encoder, the
One driving motor, the first fixed line wheel group, the first driving line group, the first joint drive line wheel and the first joint rod piece；
First driving motor is mounted on the pedestal, and first absolute value encoder is mounted on described first and drives
The tail portion of dynamic motor, the described first fixed line wheel group are connected with the output shaft of first driving motor；
Wherein, the described first fixed line wheel group is made of a pair of of line wheel, and the first driving line group drives line group by a pair
At one end of two driving lines is separately fixed in two line wheels of the first fixed line wheel group, and the other end is fixed on described
In first driving line wheel, the first driving line wheel is fixed on the rod piece of first joint, the first joint drive motor
The movement of first joint rod piece, and two line wheels of the described first fixed line wheel group are driven by the first driving line group
Relatively rotate the preload that the first driving line group can be achieved.
In any of the above-described technical solution, further, the second joint mechanism includes the second absolute value encoder, the
Two driving motors, the second fixed line wheel group, the second angle pulley group, the second driving line group and second joint drive rod；
Second driving motor and the second angle pulley group are separately fixed on the pedestal, and described second absolutely
Value encoder is mounted on the tail end of second driving motor, and the described second fixed line wheel group is defeated with second driving motor
Axis connection out, the described second fixed line wheel group are made of a pair of of line wheel, and the second driving line group is made of a pair of driving line, two drives
One end of moving-wire is separately fixed in two line wheels of the second fixed line wheel group, and the other end is each attached to second joint drive rod
On, and can be adjusted by direction of routing of the second angle pulley group to driving line, and second driving motor passes through
The movement of second driving line group driving second joint drive rod, two line wheels relative rotation of the second fixed line wheel group can be realized
Preload to the second driving line group.
In any of the above-described technical solution, further, second driving motor, the second angle pulley group and second are closed
The axis for saving the shaft of drive rod distinguishes orthogonal arrangement.
In any of the above-described technical solution, further, the third articulation mechanism includes third absolute value encoder,
Line wheel group, third angle pulley group, third driving front group, third drive auxiliary member, third before three driving motors, third are fixed
Line group and third joint drive bar after line wheel group, third drive after fixation；
The third driving motor and third angle pulley group are separately fixed on the pedestal, the fixed front of the third
Wheel group is connected with the output shaft of the third driving motor, and the third absolute value encoder is mounted on the third driving electricity
The tail end of machine, line wheel group is made of a pair of of line wheel before the third is fixed, and the third driving front group drives line group by a pair
At one end of two driving lines is separately fixed in two line wheels of the fixed preceding line wheel group of third, and the other end is both secured to described
Third drives on auxiliary member, and one end of the third driving auxiliary member is mounted on second joint drive rod by bearing, and with
Second joint drive rod is coaxially arranged, and the other end of third driving auxiliary member is equipped with line wheel group after third is fixed, and third is fixed
Line wheel group is made of a pair of of line wheel afterwards, and line group is made of a pair of driving line after third driving, and one end of two driving lines is solid respectively
Be scheduled on the third it is fixed after line wheel group two line wheels on, the other end is fixed on the third joint drive bar, described the
Line group drives the movement of the third joint drive bar after three joint drive motors drive front group and third to drive by third,
And two line wheels of line wheel group relatively rotate the preload that can be realized line group after third drives after third fixation.
In any of the above-described technical solution, further, the axis of the shaft of the third joint drive bar and described the
The axis of the shaft of two joint drive bars is arranged in parallel.
In any of the above-described technical solution, further, the attitude-adjusting system includes the 4th joint rod piece, the 5th pass
Pole part, the 6th joint rod piece and the 7th joint shaft, the 4th joint rod piece, the 5th joint rod piece and the 6th joint rod piece
One end is corresponding to be provided with the 4th joint counterweight, the 5th joint counterweight and the 6th joint counterweight, and the described 7th
The other end of the 6th joint rod piece is arranged in joint shaft, and the 7th joint counterweight of the 7th joint shaft is arranged described
On clamping device, and the 4th joint rod piece, the 5th joint rod piece, the 6th joint rod piece and the 7th joint shaft joint shaft
Axis is intersected in a bit respectively, and joint is located at the end of the clamping device；
The 4th joint rod piece is driven by the 4th driving motor by the 4th joint conical tooth roller box, the 4th driving motor
Location information measured by the 4th joint potentiometer；
The 5th joint rod piece is driven by the 5th driving motor by the 5th joint conical tooth roller box, the 5th joint drive
The location information of motor is measured by the 5th joint potentiometer；
The 6th joint rod piece is driven by the 6th driving motor by the 6th joint conical tooth roller box, the 6th driving motor
Location information measured by the 6th joint potentiometer；
7th joint shaft is placed in the end of the 6th joint rod piece, and driving clamping device is revolved around the axis of the 7th joint shaft
Turn, the 7th joint shaft is driven by the 7th driving motor by the 7th joint conical tooth roller box, the location information of the 7th driving motor
It is measured by the 7th joint potentiometer.
In any of the above-described technical solution, further, the 4th joint rod piece, the 5th joint rod piece and the 6th joint
Rod piece distinguishes L-shaped rod piece.
In any of the above-described technical solution, further, the clamping device includes connector, bracket, two clamping hands
Handle, arc curved piece, the 8th driving motor, helical column and clamping device potentiometer；
The connector is connected with the 6th joint rod piece, and the 8th driving motor is arranged on the bracket,
The arc curved piece is fixedly connected with two holding handles, and the helical column connects composition by wirerope with arc curved piece
Winch mechanism, the helical column are connected with the output shaft of the 8th driving motor, and the clamping device potentiometer is fixed on
On the helical column, the 8th driving motor drives the holding handle by the capstan winch kind of drive；
Wherein, the holding handle uses slider-crank mechanism, and guide rail is arranged on the bracket, two holding handles point
It is not connected with connecting rod, one end of two connecting rods is connected with sliding block, and the sliding block slides on the guide rail, described to lead
Reset spring is provided on rail, the back-moving spring top on the slide block, can make the holding handle be in open configuration,
And the fixed line wheel of clamping device is provided on the inside of the arc curved piece, the fixed line wheel of the clamping device is for fixing winch
The wirerope of structure.
By adopting the above technical scheme, the invention has the following beneficial effects:
Tandem type Minimally Invasive Surgery main manipulator provided by the invention, rotary joint, the pose adjustment of position adjusting mechanism
Counterweight is respectively arranged on the rotary joint of mechanism and the rotary joint of clamping device, each counterweight is used for each rotation
The gravity compensation in joint, to realize the levitated equilibrium of each rotary joint, and position adjusting mechanism, attitude-adjusting system and clamping
Only feedback operation power and the torque driving of responsible corresponding component respectively of the driving device of mechanism, improves force feedback precision.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
It below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of tandem type Minimally Invasive Surgery main manipulator provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of position adjusting mechanism shown in FIG. 1；
Fig. 3 is the structural schematic diagram of the first articulation mechanism of position adjusting mechanism in Fig. 2；
Fig. 4 is the structural schematic diagram of the second joint mechanism of position adjusting mechanism in Fig. 2；
Fig. 5 is the structural schematic diagram of the third articulation mechanism of position adjusting mechanism in Fig. 2；
Fig. 6 is the structural schematic diagram of attitude-adjusting system shown in FIG. 1；
Fig. 7 is the internal drive feature schematic diagram of attitude-adjusting system in Fig. 6；
Fig. 8 is the structural schematic diagram of clamping device shown in FIG. 1；
Fig. 9 is the structural schematic diagram of the slider-crank mechanism of clamping device shown in Fig. 8.
Appended drawing reference:
1- support frame；2- pedestal；3- position adjusting mechanism；4- attitude-adjusting system；5- clamping device；The first absolute value of 6-
Encoder；The first driving motor of 7-；8- first fixes line wheel group；9- first drives line group；10- the first joint drive line wheel；11-
First joint rod piece；The second absolute value encoder of 12-；The second driving motor of 13-；14- second fixes line wheel group；Second turn of 15-
To pulley blocks；16- second drives line group；17- second joint drive rod；18- third absolute value encoder；19- third driving electricity
Machine；Line wheel group before 20- third is fixed；21- third angle pulley group；22- third drives front group；23- third drives auxiliary member；
Line wheel group after 24- third is fixed；Line group after the driving of 25- third；26- third joint drive bar；The second counterweight of 27-；28- third
Counterweight；The first articulation mechanism of 29-；30- second joint mechanism；31- third articulation mechanism；32- second joint drives secondary bar；
The 4th joint rod piece of 33-；The 4th joint counterweight of 34-；The 5th joint rod piece of 35-；The 5th joint counterweight of 36-；37- the 6th is closed
Pole part；The 6th joint counterweight of 38-；The 4th joint potentiometer of 39-；The 4th driving motor of 40-；The 4th joint conical tooth of 41-
Roller box；The 5th joint potentiometer of 42-；The 5th driving motor of 43-；The 5th joint conical tooth roller box of 44-；The 6th joint current potential of 45-
Device；The 6th driving motor of 46-；The 6th joint conical tooth roller box of 47-；The 7th joint potentiometer of 48-；The 7th driving motor of 49-；
The 7th joint conical tooth roller box of 50-；51- connector；The 8th driving motor of 52-；53- helical column；54- clamping device potentiometer；
55- arc curved piece；56- bracket；57- holding handle；58- connecting rod；59- guide rail；60- sliding block；61- reset spring；62- clamping
Line wheel is fixed by mechanism.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiments herein and embodiment can be combined with each other.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Below with reference to specific embodiment the present invention will be further explained explanation.
Embodiment one
As shown in figs 1-9, tandem type Minimally Invasive Surgery main manipulator provided in this embodiment, including support frame 1, pedestal 2,
Position adjusting mechanism 3, attitude-adjusting system 4 and clamping device 5；
The pedestal 2 is arranged on support frame as described above 1, and one end of the position adjusting mechanism 3 is connected with the pedestal 2
It connects, the other end is connected with the attitude-adjusting system 4, and the clamping device 5 is arranged on the attitude-adjusting system 4；
Wherein, the rotary joint and clamping machine of the rotary joint of the position adjusting mechanism 3, the attitude-adjusting system 4
Counterweight is respectively arranged on the rotary joint of structure 5, each counterweight is used for the gravity compensation to each rotary joint, with
Realize the levitated equilibrium of each rotary joint, and the driving of the position adjusting mechanism 3, attitude-adjusting system 4 and clamping device 5
Device only feedback operation power and the torque driving of responsible corresponding component respectively.
On the basis of the above embodiments, specifically, as shown in Fig. 2, the position adjusting mechanism 3 includes the first joint machine
Structure 29, second joint mechanism 30 and third articulation mechanism 31；First articulation mechanism 29 and the perpendicular connection of the pedestal 2,
One end of the second joint mechanism 30 rotates with first articulation mechanism 29 and connect, the other end and third joint machine
Structure 31 is connected, and the second counterweight 27 is connected in the second joint mechanism 30, is arranged on the third articulation mechanism 31
There is third counterweight 28, second counterweight 27 is used to make the gravity compensation of the second joint mechanism 30 it to suspend flat
Weighing apparatus, the third counterweight 28 is for making its levitated equilibrium to the gravity compensation of the third articulation mechanism 31.
More specifically, as shown in figure 3, first articulation mechanism 29 includes the first absolute value encoder 6, first driving electricity
The fixed line wheel group 8, first of machine 7, first drives line group 9, the first joint drive line wheel 10 and the first joint rod piece 11；
First driving motor 7 is mounted on the pedestal 2, and the described first exhausted value is mounted on described to encoder 6
The tail portion of one driving motor 7, the described first fixed line wheel group are connected with the output shaft of first driving motor 7；
Wherein, the described first fixed line wheel group 8 is made of a pair of of line wheel, and the first driving line group 9 drives line by a pair
Composition, one end of two driving lines are separately fixed in two line wheels of the first fixed line wheel group 8, and the other end is fixed on institute
It states in the first driving line wheel, the first joint drive line wheel 10 is fixed on first joint rod piece 11, and described first drives
Dynamic motor 7 drives the movement of first joint rod piece 11, and the described first fixed line wheel group by the first driving line group 9
8 two line wheels relatively rotate the preload that the first driving line group can be achieved.
As shown in figure 4, the second joint mechanism 30 includes the second absolute value encoder 12, the second driving motor 13, the
Two fixed line wheel groups 14, the second angle pulley group 15, second driving line group 16 and second joint drive rod 17；
Second driving motor 13 and the second angle pulley group 15 are separately fixed on the pedestal 2, and described
Two absolute value encoders 12 are mounted on the tail end of second driving motor 13, the described second fixed line wheel group 14 and described second
The output axis connection of driving motor 13, the described second fixed line wheel group 14 are made of a pair of of line wheel, and the second driving line group 16 is by one
To driving line composition, one end of two driving lines is separately fixed in two line wheels of the second fixed line wheel group 14, and the other end is equal
It is fixed on second joint drive rod 17, and the direction of routing of line can be driven to adjust by 15 pairs of the second angle pulley group
It is whole, and second driving motor 13 drives the movement of second joint drive rod 17 by the second driving line group 16, second is fixed
Two line wheels of line wheel group 14 relatively rotate the preload that can be realized to the second driving line group 16.
The axis d of the shaft of second driving motor 13, the second angle pulley group 15 shaft axis e and second close
The axis f for saving the shaft of drive rod 17 distinguishes orthogonal arrangement.
As shown in figure 5, the third articulation mechanism 31 includes third absolute value encoder 18, third driving motor 19, the
Three fixed preceding line wheel groups 20, third angle pulley group 21, third driving front group 22, third driving auxiliary member 23, third are fixed
Line group 25 and third joint drive bar 26 after line wheel group 24, third driving afterwards；
Third joint drive bar 26 drives secondary bar 32 by third joint shaft and second joint drive rod 17 and second joint
Rotate connection；
The third driving motor 19 and third angle pulley group 21 are separately fixed on the pedestal 2, and the third is solid
Line wheel group 20 is connected with the output shaft of the third driving motor 19 before fixed, and the third absolute value encoder 18 is mounted on institute
The tail end of third driving motor 19 is stated, line wheel group 20 is made of a pair of of line wheel before the third is fixed, and the third drives front
Group 22 is made of a pair of driving line, and one end of two driving lines is separately fixed at two line wheels of line wheel group 20 before third is fixed
On, the other end is both secured on the third driving auxiliary member 23, and one end of the third driving auxiliary member 23 is pacified by bearing
On second joint drive rod 17, and it is coaxially arranged with second joint drive rod 17, and third drives the other end of auxiliary member 23
Be equipped with third it is fixed after line wheel group 24, line wheel group 24 is made of a pair of of line wheel after third is fixed, after third driving line group 25 by
A pair of driving line composition, one end of two driving lines are separately fixed at after the third is fixed in two line wheels of line wheel group 24,
The other end is fixed on the third joint drive bar 26, and the third joint drive motor drives 22 He of front group by third
Line group 25 drives the movement of the third joint drive bar 26 after third driving, and third it is fixed after line wheel group 24 two line wheels
Relatively rotate the preload of line group 25 after can be realized third driving.
The axis g of the shaft of the axis h and second joint drive rod 17 of the shaft of the third joint drive bar 26
Parallel arrangement.Three rotary joints of position adjusting mechanism 3 in the case where three driving motors are respectively driven by wirerope, subtract respectively
The small movement inertia of main manipulator.
On the basis of the above embodiment, specifically, as shown in fig. 6, the attitude-adjusting system 4 includes the 4th joint
Rod piece 33, the 5th joint rod piece 35, the 6th joint rod piece 37 and the 7th joint shaft, the 4th joint rod piece 33, the 5th joint
One end of rod piece 35 and the 6th joint rod piece 37 is corresponding to be provided with the 4th joint counterweight 34, the 5th joint counterweight 36
With the 6th joint counterweight 38, and the 7th joint shaft is arranged in the other end of the 6th joint rod piece 37, and the described 7th
7th joint counterweight of joint shaft is arranged on the clamping device 5, and the axis of the joint shaft of the 4th joint rod piece 33
Line j, the axis k of the joint shaft of the 5th joint rod piece 35, the 6th joint rod piece 37 joint shaft axis l and the 7th joint shaft
The axis o of joint shaft is intersected in a bit respectively, and joint is located at the end of the clamping device 5；
As shown in fig. 7, the 4th joint rod piece 33 passes through the 4th joint conical tooth roller box 41 by the 4th driving motor 40
Driving, the location information of the 4th driving motor 40 are measured by the 4th joint potentiometer 39；The 5th joint rod piece 35 is by the 5th
Driving motor 43 is driven by the 5th joint conical tooth roller box 44, and the location information of the 5th joint drive motor is by the 5th joint electricity
Position device 42 measures；The 6th joint rod piece 37 is driven by the 6th driving motor 46 by the 6th joint conical tooth roller box 47, the
The location information of six driving motors 46 is measured by the 6th joint potentiometer 45；7th joint shaft is placed in the 6th joint rod piece 37
End, driving clamping device 5 rotates around the axis o of the 7th joint shaft, and the 7th joint shaft passes through the by the 7th driving motor 49
The driving of seven joint conical tooth roller boxs 50, the location information of the 7th driving motor 49 are measured by the 7th joint potentiometer 48.
It should be noted that as shown in fig. 6, the 4th joint rod piece 33, the 5th joint rod piece 35 and the 6th articulated arm
Part 37 distinguishes L-shaped rod piece.
Four rotary joints of attitude-adjusting system 4, one of them is the Joint motion i.e. joint of the 4th joint rod piece 33
Axis is directly driven by four motors by conical tooth roller box, and adjustment Joint motion can avoid the other three joint shaft and be in unusual
Point, since the number of degrees of freedom, of the mechanism at singular point is reduced, flexibility is deteriorated, and the design of this programme improves flexibility.
On the basis of the above embodiment, as shown in figure 8, the clamping device 5 includes connector 51, bracket 56, two
A holding handle 57, arc curved piece 55, the 8th driving motor 52, helical column 53 and clamping device potentiometer 54；
The connector 51 is connected with the 6th joint rod piece 37, and the 8th driving motor 52 is arranged in the branch
On frame 56, the arc curved piece 55 is fixedly connected with two holding handles 57, and the helical column 53 and arc curved piece 55 are logical
Wirerope connection composition winch mechanism is crossed, the helical column 53 is connected with the output shaft of the 8th driving motor 52, described
Clamping device potentiometer 54 is fixed on the helical column 53, and the 8th driving motor 52 drives institute by the capstan winch kind of drive
State holding handle 57；
Wherein, as shown in figure 9, the holding handle 57 uses 60 mechanism of crank block, guide rail 59 is arranged in the bracket
On 56, two holding handles 57 are connected separately with connecting rod 58, and one end of two connecting rods 58 is connected with sliding block 60, described
Sliding block 60 slides on the guide rail 59, and reset spring 61 is provided on the guide rail 59, and the reset spring 61 withstands on described
On sliding block 60, the holding handle 57 can be made to be in open configuration, and the inside of the arc curved piece 55 is provided with clamping machine
Structure fixes line wheel 62, and the fixed line wheel 62 of the clamping device is used to fix the wirerope of winch mechanism.
Clamping device 5 realizes transmission using winch mechanism, and pair of two holding handles 57 is realized by slider-crank mechanism
Claim movement, it is easy to operate practical.
In conclusion tandem type Minimally Invasive Surgery main manipulator provided by the invention, the rotary joint of position adjusting mechanism,
Be respectively arranged with counterweight on the rotary joint of attitude-adjusting system and the rotary joint of clamping device, each counterweight for pair
The gravity compensation of each rotary joint forms 8 freedom degree tandem type main operations to realize the levitated equilibrium of each rotary joint
Hand, can feedback space six-dimensional force and torque and chucking power, position adjusting mechanism is made of three rotary joints, driving motor peace
Dress on the base, respectively drives three joints by wirerope, reduces the movement inertia of main manipulator, attitude-adjusting system by
Four rotary joint compositions, four joints axes are met at a bit, realize attitude decoupling, and one in four joints of pose adjustment is
Joint motion can make the other three joint far from singular point by adjusting Joint motion, and each joint for operating main hand, which uses, matches
Double recipe formula realizes gravity compensation, and motor is only responsible for feedback operation power and torque, to improve force feedback precision.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other implementations
Certain features rather than other feature included by example, but the combination of the feature of different embodiments means in the present invention
Within the scope of and form different embodiments.For example, in claims above, embodiment claimed
It is one of any can in any combination mode come using.The information disclosed in the background technology section is intended only to deepen pair
The understanding of general background technology of the invention, and be not construed as recognizing or implying in any form that information composition has been this
The prior art well known to the technical staff of field.
Claims (9)
1. a kind of tandem type Minimally Invasive Surgery main manipulator, which is characterized in that including support frame, pedestal, position adjusting mechanism, appearance
State adjustment mechanism and clamping device；
The pedestal is arranged on support frame as described above, and one end of the position adjusting mechanism is connected with the pedestal, the other end
It is connected with the attitude-adjusting system, the clamping device is arranged on the attitude-adjusting system；
Wherein, the rotation of the rotary joint of the position adjusting mechanism, the rotary joint of the attitude-adjusting system and clamping device
Turn to be respectively arranged with counterweight on joint, each counterweight is used for the gravity compensation to each rotary joint, every to realize
The levitated equilibrium of a rotary joint, and the driving device difference of the position adjusting mechanism, attitude-adjusting system and clamping device
Only feedback operation power and the torque driving of responsible corresponding component；
The attitude-adjusting system includes the 4th joint rod piece, the 5th joint rod piece, the 6th joint rod piece and the 7th joint shaft, institute
The one end for stating the 4th joint rod piece, the 5th joint rod piece and the 6th joint rod piece corresponding is provided with the 4th joint counterweight
Part, the 5th joint counterweight and the 6th joint counterweight, and the another of the 6th joint rod piece is arranged in the 7th joint shaft
One end, the 7th joint counterweight of the 7th joint shaft are arranged on the clamping device, and the 4th joint rod piece, the
The axis of the joint shaft of five joint rod pieces, the 6th joint rod piece and the 7th joint shaft is intersected in a bit respectively, and joint is located at institute
State the end of clamping device；
The 4th joint rod piece is driven by the 4th driving motor by the 4th joint conical tooth roller box, the position of the 4th driving motor
Confidence breath is measured by the 4th joint potentiometer；
The 5th joint rod piece is driven by the 5th driving motor by the 5th joint conical tooth roller box, the 5th joint drive motor
Location information measured by the 5th joint potentiometer；
The 6th joint rod piece is driven by the 6th driving motor by the 6th joint conical tooth roller box, the position of the 6th driving motor
Confidence breath is measured by the 6th joint potentiometer；
7th joint shaft is placed in the end of the 6th joint rod piece, and driving clamping device is rotated around the axis of the 7th joint shaft,
7th joint shaft is driven by the 7th driving motor by the 7th joint conical tooth roller box, and the location information of the 7th driving motor is by the
The measurement of seven joint potentiometers.
2. tandem type Minimally Invasive Surgery main manipulator according to claim 1, which is characterized in that
The position adjusting mechanism includes the first articulation mechanism, second joint mechanism and third articulation mechanism；
First articulation mechanism and the perpendicular connection of the pedestal, one end of the second joint mechanism and first joint
Mechanism rotates connection, and the other end is connected with the third articulation mechanism, and is connected with second in the second joint mechanism
Counterweight, third counterweight is provided on the third articulation mechanism, and second counterweight is used for the second joint machine
The gravity compensation of structure makes its levitated equilibrium, and the third counterweight is used to make the gravity compensation of the third articulation mechanism it outstanding
Floating balance.
3. tandem type Minimally Invasive Surgery main manipulator according to claim 2, which is characterized in that
First articulation mechanism includes the first absolute value encoder, the first driving motor, the first fixed line wheel group, the first driving
Line group, the first joint drive line wheel and the first joint rod piece；
First driving motor is mounted on the pedestal, and first absolute value encoder is mounted on the first driving electricity
The tail portion of machine, the described first fixed line wheel group are connected with the output shaft of first driving motor；
Wherein, the described first fixed line wheel group is made of a pair of of line wheel, and the first driving line group is made of a pair of driving line, and two
One end of line is driven to be separately fixed in two line wheels of the first fixed line wheel group described in root, the other end is fixed on described first and closes
In section driving line wheel, the first joint drive line wheel is fixed on the rod piece of first joint, and first driving motor is logical
Cross the movement that the first driving line group drives first joint rod piece, and two line wheel phases of the described first fixed line wheel group
Rotation can be achieved the preload of the first driving line group.
4. tandem type Minimally Invasive Surgery main manipulator according to claim 3, which is characterized in that
The second joint mechanism includes the second absolute value encoder, the second driving motor, the second fixed line wheel group, the second steering
Pulley blocks, the second driving line group and second joint drive rod；
Second driving motor and the second angle pulley group are separately fixed on the pedestal, and second absolute value is compiled
Code device is mounted on the tail end of second driving motor, the output shaft of the described second fixed line wheel group and second driving motor
Connection, the second line wheel group are made of a pair of of line wheel, and the second driving line group is made of a pair of driving line, and the one of two driving lines
End is separately fixed in two line wheels of the second fixed line wheel group, and the other end is each attached on second joint drive rod, and can
It is adjusted by direction of routing of the second angle pulley group to driving line, and second driving motor passes through the second driving line
The movement of group driving second joint drive rod, two line wheels relative rotation of the second fixed line wheel group can be realized to be driven to second
The preload of line group.
5. tandem type Minimally Invasive Surgery main manipulator according to claim 4, which is characterized in that
The axis of the shaft of second driving motor, the second angle pulley group and second joint drive rod distinguishes orthogonal cloth
It sets.
6. tandem type Minimally Invasive Surgery main manipulator according to claim 4, which is characterized in that
The third articulation mechanism includes third absolute value encoder, third driving motor, the fixed preceding line wheel group of third, third turn
Line group and third after line wheel group, third drive after fixing to pulley blocks, third driving front group, third driving auxiliary member, third
Joint drive bar；
The third driving motor and third angle pulley group are separately fixed on the pedestal, line wheel group before the third is fixed
It is connected with the output shaft of the third driving motor, the third absolute value encoder is mounted on the third driving motor
Tail end, line wheel group is made of a pair of of line wheel before the third is fixed, and the third driving front group is made of a pair of driving line, and two
One end of root driving line is separately fixed in two line wheels of the fixed preceding line wheel group of third, and the other end is both secured to the third and drives
On actuation assistance, one end of the third driving auxiliary member is mounted on second joint drive rod by bearing, and is closed with second
Section drive rod is coaxially arranged, and the other end of third driving auxiliary member is equipped with line wheel group after third is fixed, line wheel after third is fixed
Group is made of a pair of of line wheel, and line group is made of a pair of driving line after third driving, and one end of two driving lines is separately fixed at institute
It states after third is fixed in two line wheels of line wheel group, the other end is fixed on the third joint drive bar, the third joint
Line group drives the movement of the third joint drive bar, and third after driving motor drives front group and third to drive by third
Two line wheels of line wheel group relatively rotate the preload that can be realized line group after third drives after fixation.
7. tandem type Minimally Invasive Surgery main manipulator according to claim 6, which is characterized in that
The axis of the shaft of the axis of the shaft of the third joint drive bar and the second joint drive rod is arranged in parallel.
8. tandem type Minimally Invasive Surgery main manipulator according to claim 1, which is characterized in that
The 4th joint rod piece, the 5th joint rod piece and the 6th joint rod piece distinguish L-shaped rod piece.
9. tandem type Minimally Invasive Surgery main manipulator according to claim 1, which is characterized in that
The clamping device includes connector, bracket, two holding handles, arc curved piece, the 8th driving motor, helical column and folder
Hold mechanism potentiometer；
The connector is connected with the 6th joint rod piece, and the 8th driving motor setting is on the bracket, described
Arc curved piece is fixedly connected with two holding handles, and the helical column connects composition capstan winch by wirerope with arc curved piece
Mechanism, the helical column are connected with the output shaft of the 8th driving motor, and the clamping device potentiometer is fixed on described
On helical column, the 8th driving motor drives the holding handle by the capstan winch kind of drive；
Wherein, the holding handle uses slider-crank mechanism, and guide rail is arranged on the bracket, and two holding handles connect respectively
It is connected to connecting rod, one end of two connecting rods is connected with sliding block, and the sliding block slides on the guide rail, on the guide rail
It is provided with reset spring, the back-moving spring top on the slide block, can make the holding handle be in open configuration, and institute
It states and is provided with the fixed line wheel of clamping device on the inside of arc curved piece, the fixed line wheel of the clamping device is for fixing winch mechanism
Wirerope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710714335.3A CN107320195B (en) | 2017-08-18 | 2017-08-18 | A kind of tandem type Minimally Invasive Surgery main manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710714335.3A CN107320195B (en) | 2017-08-18 | 2017-08-18 | A kind of tandem type Minimally Invasive Surgery main manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107320195A CN107320195A (en) | 2017-11-07 |
| CN107320195B true CN107320195B (en) | 2019-10-18 |
Family
ID=60224231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710714335.3A Active CN107320195B (en) | 2017-08-18 | 2017-08-18 | A kind of tandem type Minimally Invasive Surgery main manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107320195B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110496301A (en) | 2019-08-03 | 2019-11-26 | 芜湖安普机器人产业技术研究院有限公司 | One kind being suitable for clinical human's lithotomy position and targets seeds implanted robot |
| CN111449758B (en) * | 2020-04-09 | 2021-01-26 | 山东大学 | Main manipulator for continuum surgical robot and surgical robot |
| CN112057172B (en) * | 2020-09-10 | 2022-02-11 | 苏州大学 | Minimally invasive surgery robot |
| CN113907891A (en) * | 2021-11-08 | 2022-01-11 | 哈尔滨思哲睿智能医疗设备有限公司 | Main manipulator and operation robot control equipment |
| CN114224499B (en) * | 2021-12-27 | 2023-08-11 | 佗道医疗科技有限公司 | Gravity balance mechanism of main manipulator |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005039835A1 (en) * | 2003-10-24 | 2005-05-06 | The University Of Western Ontario | Force reflective robotic control system and minimally invasive surgical device |
| JP6157258B2 (en) * | 2013-07-26 | 2017-07-05 | オリンパス株式会社 | Manipulator and manipulator system |
| EP3119319B1 (en) * | 2014-03-17 | 2020-07-15 | Intuitive Surgical Operations, Inc. | Tele-operative surgical systems and methods of control at joint limits using inverse kinematics |
| CN104622575B (en) * | 2014-12-29 | 2017-01-04 | 天津大学 | A kind of micro-wound operation robot main manipulator based on wire rope gearing |
| WO2017015599A1 (en) * | 2015-07-23 | 2017-01-26 | Sri International | Robotic arm and robotic surgical system |
| CN105147393B (en) * | 2015-08-19 | 2017-06-20 | 哈尔滨工业大学 | A kind of minimally invasive robot holds mirror mechanical arm |
| CN105232153B (en) * | 2015-09-08 | 2019-03-26 | 微创（上海）医疗机器人有限公司 | Mechanical arm |
| ITUB20155057A1 (en) * | 2015-10-16 | 2017-04-16 | Medical Microinstruments S R L | Robotic surgery set |
| CN205885526U (en) * | 2016-05-16 | 2017-01-18 | 南方医科大学南方医院 | Nimble operation shoulder joint |
-
2017
- 2017-08-18 CN CN201710714335.3A patent/CN107320195B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107320195A (en) | 2017-11-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107320195B (en) | A kind of tandem type Minimally Invasive Surgery main manipulator | |
| CN204337044U (en) | A kind of operating theater instruments end structure of micro-wound operation robot | |
| CN101889900B (en) | Master-slave integrated mechanical arm for assisting minimally invasive surgery | |
| CN110719761B (en) | Instrument interface for robotic surgical instruments | |
| CN105232153B (en) | Mechanical arm | |
| CN104434318B (en) | A kind of operating theater instruments end structure of micro-wound operation robot | |
| EP2052675B1 (en) | A control assembly | |
| JP2011516286A (en) | Electric joint having two pivot joints and humanoid robot mounted with this joint | |
| CN108378922A (en) | A kind of micro-wound operation robot force feedback main manipulator with redundant degree of freedom | |
| CN105962876B (en) | A kind of capsule endoscope controller | |
| CN107157581B (en) | Decoupling four-degree-of-freedom telecentric mechanism for in-vitro minimally invasive surgery | |
| CN107157582B (en) | A kind of surgery of nasal cavity auxiliary Chi Jing robot | |
| JP2009018027A (en) | Device for operating endoscopic surgical instrument | |
| CN104972456B (en) | A kind of achievable planar positioning and the biplane parallel institution of space two-dimensional orientation | |
| CN106078724B (en) | Mechanical arm and surgical robot thereof | |
| CN110403700A (en) | Doctor's station | |
| WO2020090233A1 (en) | Parallel link device, master-slave system, and medical master-slave system | |
| CN105455902A (en) | Wrist of robot and surgical robot | |
| CN105832417A (en) | Novel manipulator RCM (remote center of motion) mechanism of minimally invasive surgery robot | |
| CN110393588B (en) | Doctor operation table for minimally invasive surgery | |
| CN107397648B (en) | A kind of hand convalescence device and system | |
| CN109009453A (en) | Intervene the force feedback type main manipulator of robot | |
| KR20200030209A (en) | Multi degree-of-freedom laparoscopic apparatus using disposable surgical robot tool | |
| CN110897725A (en) | Full-active 8-degree-of-freedom tandem type main manipulator | |
| CN205268284U (en) | Abdominal cavity minimal access surgery holds mirror robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |