CN107595393B - A kind of distal center movement mechanism - Google Patents
A kind of distal center movement mechanism Download PDFInfo
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- CN107595393B CN107595393B CN201710816422.XA CN201710816422A CN107595393B CN 107595393 B CN107595393 B CN 107595393B CN 201710816422 A CN201710816422 A CN 201710816422A CN 107595393 B CN107595393 B CN 107595393B
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Abstract
The present invention is suitable for field of medical auxiliary equipment, provide a kind of distal center movement mechanism, it includes base assembly, link assembly and instrument fixation kit, base assembly includes pedestal, power drive, the first rotary shaft and the second rotary shaft, the first, second cam path is also provided on pedestal, link assembly is connected between base assembly and instrument fixation kit, including first group of connecting rod, second group of connecting rod, the first cam follower and the second cam follower.While power drive drives first group of connecting rod and second group of link rotatable, the entire length that each group connecting rod is adjusted by the coupling of the first cam follower and the first cam path and the coupling of the second cam follower and the second cam path, makes mechanism meet the requirement for doing distal center movement.The structure overall volume is small, and the angular range that can be rotated by adjusting the length of cam path come controls connecting rod is not likely to produce interference so that the working space of surgical instrument is customizable between each surgical instrument.
Description
Technical field
The invention belongs to field of medical auxiliary equipment more particularly to a kind of distal center movement mechanisms.
Background technique
With the broad development of Minimally Invasive Surgery, auxiliary robot of performing the operation plays more and more important angle in Minimally Invasive Surgery
Color, such as Leonardo da Vinci's surgical robot system.In robot assisted Minimally Invasive Surgery, since wound is smaller, in operation, instrument
Movement receives corresponding limitation, i.e., during surgery, during the motion, there are a basic fixed points, i.e., far for surgical instrument
Central point is held, the movement of surgical instrument is also referred to as distal center movement；And it realizes the mechanism of distal center movement and is referred to as distal end
Center movement mechanism.
In Minimally Invasive Surgery auxiliary robot, distal center movement mechanism is a vital mechanism, is micro- at present
The primary selection of invasive procedures auxiliary robot tip designs.Currently, in Minimally Invasive Surgery auxiliary robot, distal center fitness machine
Structure is mainly include the following types: the distal center movement mechanism based on parallelogram mechanism, the distal center based on spherical surface distribution
Movement mechanism, based on the distal center movement mechanism for intersecting line method, distal center movement mechanism based on space mechanism etc.；With
Upper several distal center movement mechanisms, only the distal center movement mechanism based on parallelogram mechanism is actually being answered at present
With.
Distal center movement mechanism based on parallelogram mechanism, such as the end of Leonardo da Vinci's operating robot, volume
Greatly, in the operation of surgical procedure narrow space, interference between Yi Fasheng surgical instrument, motion range critical constraints, thus difficult
To carry out related surgical, such as in ophthalmology, ear-nose-throat department.Such distal center movement mechanism has been difficult to meet current
The development need of Minimally Invasive Surgery auxiliary robot.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of distal center movement mechanism, it is intended to solve the prior art
In distal center movement mechanism present in volume is big, surgical instrument limited working space, be unable to satisfy current Minimally Invasive Surgery
The problem of development need of auxiliary robot.
In order to solve the above technical problems, the invention is realized in this way, a kind of distal center movement mechanism, including pedestal group
Part, link assembly and the instrument fixation kit for fixation surgical instrument；
The base assembly includes pedestal, power drive, the first rotary shaft and the second rotary shaft, the power drive
It is mounted on the pedestal, first rotary shaft and the second rotary shaft are threaded through on the pedestal；First rotary shaft
It is connect with the power output end of the power drive, second rotary shaft is located at along the vertical direction with first rotary shaft
On same straight line, the first cam path and the second cam path, and first cam path and second are also provided on the pedestal
Cam path is located on the same line along the vertical direction；
The link assembly includes first group of connecting rod, second group of connecting rod, the first cam follower and the second cam driven
Part, first group of connecting rod include first connecting rod and second connecting rod, length direction of the second connecting rod along the first connecting rod
It opposite can be slidably mounted on the first connecting rod, second group of connecting rod includes third connecting rod and fourth link, and described the
Double leval jib opposite can be slidably mounted on the third connecting rod along the length direction of the third connecting rod；First cam from
One end of moving part is installed in rotation on the second connecting rod, and first cam follower is threaded through first cam
In slot, one end of second cam follower is installed in rotation in the fourth link, and second cam driven
Part is threaded through in second cam path；The first connecting rod and third connecting rod are separately fixed at first rotary shaft and second
In rotary shaft, the second connecting rod and fourth link are separately fixed on the instrument fixation kit, and the first connecting rod and
Second connecting rod is parallel to each other with third connecting rod and fourth link；The power drive drives the first connecting rod rotation, and band
It moves first cam follower to roll along first cam path, first cam follower is along first cam path
It rolls and the second connecting rod is driven to slide along the length direction of the first connecting rod；The fortune of the first connecting rod and second connecting rod
It is dynamic that the third connecting rod and fourth link corresponding sports are driven by the instrument fixation kit, to drive described second jointly
Do concentric circumferences movement in one end that instrument fixation kit is fixed on connecting rod and fourth link.
Further, the link assembly further includes third group connecting rod and the 4th group of connecting rod, first rotary shaft and
The both ends of two rotary shafts protrude out the pedestal, and first group of connecting rod is identical as third group link mechanism, and is symmetrically installed
At the both ends of first rotary shaft, the both ends of first cam follower are installed in rotation on first group of company respectively
On bar and third group connecting rod；Second group of connecting rod is identical as the 4th group of link mechanism, and is symmetrically connected to second rotation
The both ends of axis, the both ends of second cam follower are installed in rotation on second group of connecting rod and the 4th group of connecting rod respectively
On.
Further, the base assembly further includes driving wheel and driven wheel, the driving wheel and the power drive
Power output end connection, the driven wheel is fixedly connected with first rotary shaft, and the driving wheel and driven wheel pass through together
Walk band connection.
Further, the length direction of first connecting rod described in a lateral edge of the first connecting rod offers sliding slot, and described
Two connecting rods can be slidably embedded in the sliding slot of the first connecting rod relatively.
Further, the length direction of third connecting rod described in a lateral edge of the third connecting rod offers sliding slot, and described
Double leval jib can be slidably embedded in the sliding slot of the third connecting rod relatively.
Further, the instrument fixation kit include two instrument fixed pedestals, base joint and it is medical in peep
Mirror, described two instrument fixed pedestals are symmetrical set, and the base joint is fixedly connected on two instrument fixed pedestals
Between, at least two shafts are equipped on each instrument fixed pedestal, at least two shaft is located at together along the vertical direction
On straight line, the second connecting rod of each linkage component is correspondingly connected with a shaft respectively；The medical endoscope is fixed
On the base joint, center line intersects and vertical with the axis of at least two shaft.
Further, the power drive includes motor and retarder；First rotary shaft is defeated with the motor
Axis connection out.
Compared with prior art, the present invention beneficial effect is: a kind of distal center movement mechanism of the invention comprising
Base assembly, link assembly and instrument fixation kit.Base assembly is generally fixed to the end of robot, on the base assembly
Power drive be used to provide power；The link assembly is connected between base assembly and instrument fixation kit comprising
First group of connecting rod, second group of connecting rod, the first cam follower and the second cam follower.First group of connecting rod and second group of company
Bar can rotate under the drive of power drive rotating around the first rotary shaft of base assembly and the second rotary shaft, simultaneously as
Each group of connecting rod can carry out the adjusting of length by the coupling of respective cam follower and cam path, so that second connecting rod
Concentric circumferences movement is done with the one end for being fixed on instrument fixation kit in fourth link, that is, distal center moves.The knot
Structure overall volume is small, and the angular range that can be rotated by adjusting the length of cam path overall profile come controls connecting rod, when
It when working space is larger, can suitably increase the length of cam path, when working space is smaller, can suitably reduce the length of cam path
Degree is not likely to produce movement interference so that the working space of surgical instrument is customizable between surgical instrument, can satisfy current
The development need of Minimally Invasive Surgery auxiliary robot.
Detailed description of the invention
Fig. 1 is a kind of motion principle figure of distal center movement mechanism provided in an embodiment of the present invention；
Fig. 2 is a kind of overall structure diagram of distal center movement mechanism provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of base assembly in Fig. 2；
Fig. 4 is the structural schematic diagram of link assembly in Fig. 2；
Fig. 5 is the structural schematic diagram of first group of connecting rod in Fig. 4；
Fig. 6 is the structural schematic diagram of second group of connecting rod in Fig. 4；
Fig. 7 is the structural schematic diagram of instrument fixation kit in Fig. 2.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1, being a kind of motion principle figure of distal center movement mechanism provided in an embodiment of the present invention.It is specific
Principle is as follows: connecting rod L1It is made of a mobile width, overall length P1O11=L1=f1(α)；As connecting rod L1Around O11When rotation, connecting rod
L1On cam follower C1Act on connecting rod L1Prismatic pair movable part so that connecting rod L1Length variation so that
P1Point is around center of circle O2Point moves in a circle.
Referring to Fig.1, using the triangle cosine law, length of connecting rod L can be calculated1It is as follows with the relationship of angle [alpha]:According to length of connecting rod L1, cam follower can be calculated
C1Motion outline and angle [alpha] relationship it is as follows:
For connecting rod L2, can similarly determine the relationship and cam follower C of length of connecting rod and angle2Motion outline with
The relationship of angle.According to the definition of distal center movement mechanism, it can derive and work as P1, P2Two o'clock is simultaneously around O2It moves in a circle, then
Point P1, P2The connecting rod P at place1P2It will be around O2Do distal center movement；That is: as connecting rod L1Around O11When rotation, connecting rod P will be driven1P2
Around O2Distal center movement is done, entire mechanism forms a distal center movement mechanism.
As shown in Fig. 2, being a kind of distal center movement mechanism 100 provided in an embodiment of the present invention comprising base assembly
1, link assembly 2 and instrument fixation kit 3, the link assembly 2 are connected between base assembly 1 and instrument fixation kit 3.
Specifically, referring to Fig. 3, the base assembly 1 includes pedestal 11, power drive 12, the first rotary shaft 13, second
Rotary shaft 14, driving wheel 15 and driven wheel 16.In embodiments of the present invention, the power drive 12 includes motor 121 and subtracts
Fast device 122, is used to provide power and controls revolving speed.The power drive 12 is mounted on the pedestal 11, first rotation
Shaft 13 and the second rotary shaft 14 are threaded through on the pedestal 11, and both ends protrude out the pedestal 11.The driving wheel
15 connect with the power output end of the power drive 12, and the driven wheel 16 is fixedly connected with first rotary shaft 13,
The driving wheel 15 passes through synchronous band connection with driven wheel 16.The motor 121 is with retarder 122 for driving the driving wheel
15, the driving wheel 15 drives the driven wheel 16 to rotate together with the first rotary shaft 13 by synchronous belt.
Second rotary shaft 14 is located on the same line along the vertical direction with first rotary shaft 13, the pedestal
The first cam path 17 and the second cam path 18 are also provided on 1, and first cam path 17 and the second cam path 18 are along vertical
Direction is located on the same line.The profile of first cam path 17 and the second cam path 18, which meets in above-mentioned schematic diagram, to be derived
Formula, the rotation of first rotary shaft 13 will drive the link assembly 2 and moves, the long variation of the bar of the link assembly 2
It is coupled by first cam path 17 and the second cam path 18.
Specifically, the link assembly 2 includes first group of connecting rod 21, second groups of connecting rods 22, third groups referring to fig. 4 to fig. 6
Connecting rod 23, the 4th group of connecting rod 24, the first cam follower 25 and the second cam follower 26.First group of connecting rod 21 include
The length direction of first connecting rod 211 and second connecting rod 212, first connecting rod 211 described in a lateral edge of the first connecting rod 211 opens up
There is sliding slot 2111, the second connecting rod 212 can be slidably embedded in the sliding slot 2111 of the first connecting rod 211 relatively, thus
So that the entire length of first group of connecting rod 21 is adjustable.Second group of connecting rod 22 includes third connecting rod 221 and fourth link
222, the length direction of third connecting rod 221 described in a lateral edge of the third connecting rod 221 offers sliding slot 2211, and the described 4th connects
Bar 222 can be slidably embedded in the sliding slot 2211 of the third connecting rod 221 relatively, so that second group of connecting rod 22
Entire length is adjustable.
The first connecting rod 211 and third connecting rod 221 are separately fixed at first rotary shaft 13 and the second rotary shaft 14
On, the second connecting rod 212 and fourth link 222 are separately fixed on the instrument fixation kit 3, and the first connecting rod
211 and second connecting rod 212 be parallel to each other with third connecting rod 221 and fourth link 222.First group of connecting rod 21 and third group connect
23 structure of bar is identical, and is symmetrically mounted on the both ends of first rotary shaft 13, the both ends point of first cam follower 25
It is not installed in rotation on first group of connecting rod 21 and third group connecting rod 23, and first cam follower 25 is threaded through
In first cam path 17.Second group of connecting rod 22 is identical as the 4th group of 24 structure of connecting rod, and is symmetrically connected to described
The both ends of two rotary shafts 14, the both ends of second cam follower 26 are installed in rotation on second group of connecting rod 22 respectively
On the 4th group of connecting rod 24, second cam follower 26 is threaded through in second cam path 18.
The motor 121 drives the first connecting rod 211 to rotate, and drives first cam follower 25 along described the
One cam path 17 rolls, and first cam follower 25 drives the second connecting rod along the rolling of first cam path 17
212 along the first connecting rod 211 length direction slide, with adjust first group of connecting rod 21 entire length.The first connecting rod
211 and the movement of second connecting rod 212 third connecting rod 221 and fourth link 222 are driven by the instrument fixation kit 3
Corresponding sports, to drive the one end for being fixed on instrument fixation kit 3 in the second connecting rod 212 and fourth link 222 jointly
Concentric circumferences movement is done, that is, distal center moves.
Simultaneously as the rotation angle of each connecting rod can by adjust the length of cam path 17 or 18 overall profile of cam path come
The angular range of controls connecting rod rotation.Therefore, when working space is larger, the length of cam path 17 or cam path 18 can suitably be increased
Degree；When working space is smaller, it can suitably reduce the length of cam path 17 or cam path 18, so that the work of surgical instrument
Space is customizable, and movement interference is not likely to produce between surgical instrument, can satisfy current Minimally Invasive Surgery auxiliary machinery man-based development
It needs.
Referring to Fig. 7, the instrument fixation kit 3 includes two instrument fixed pedestals 31, base joint 32 and medical
Endoscope 33.Described two instrument fixed pedestals 31 are symmetrical set, and the base joint 32 is fixedly connected on two devices
Between tool fixed pedestal 31, for fixing the relative position of described two instrument fixed pedestals 31.
Shaft 311 and shaft 312,312 edge of the shaft 311 and shaft are respectively equipped on each instrument fixed pedestal 31
Vertical direction is located on the same line, 23, the 4th groups of first group of connecting rod, 21, second groups of connecting rods 22, third group connecting rod companies
Bar 24 is correspondingly connected with the shaft 311 and shaft 312 respectively.The medical endoscope 33 is fixed on the base joint 32
On, center line intersects and vertical with the axis of the shaft 311 and shaft 312.So that 12 energy of power drive
It enough drives the medical endoscope 33 to do distal center movement, medical treatment is carried out with matching with micro-traumatic operation auxiliary robot.The present invention
The medical endoscope 33 being previously mentioned in embodiment only is used to indicate can be used for a kind of instrument of this distal center movement mechanism,
The instrument of its type can also be fixed on the base joint 32 according to similar attachment.
The course of work of the distal center movement mechanism 100 is as follows: the power drive 12 provides rotary power, from
And 23, the 4th groups of first group of connecting rod, 21, second groups of connecting rods 22, third group connecting rod connecting rods 24 is driven to rotate；Each link rotatable
While, pass through the coupling of the first cam follower 25 and the first cam path 17 and the second cam follower 26 and the second cam
The coupling of slot 18 carries out the adjusting of each group length of connecting rod, so that the medical endoscope 3 on the instrument fixation kit 3 is done far
Hold center movement.
In conclusion a kind of distal center movement mechanism 100 provided in an embodiment of the present invention, overall volume is smaller, often
One group of connecting rod while rotating, being capable of coupling by the first cam follower 25 and the first cam path 17 and the second cam
The coupling of driven member 26 and the second cam path 18 carries out the adjusting of length, to meet the needs of distal center movement, and can be with
The angular range of each connecting rod rotation is controlled by adjusting the length of cam path 17 or cam path 18, so that surgical instrument
Working space is customizable, is not likely to produce the interference of movement, can satisfy the development need of current Minimally Invasive Surgery auxiliary robot.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (7)
1. a kind of distal center movement mechanism, which is characterized in that including base assembly, link assembly and for fixing surgical device
The instrument fixation kit of tool；
The base assembly includes pedestal, power drive, the first rotary shaft and the second rotary shaft, the power drive installation
On the pedestal, first rotary shaft and the second rotary shaft are threaded through on the pedestal；First rotary shaft and institute
The power output end connection of power drive is stated, second rotary shaft is located at same along the vertical direction with first rotary shaft
On straight line, the first cam path and the second cam path, and first cam path and the second cam are also provided on the pedestal
Slot is located on the same line along the vertical direction；
The link assembly includes first group of connecting rod, second group of connecting rod, the first cam follower and the second cam follower, institute
Stating first group of connecting rod includes first connecting rod and second connecting rod, and the second connecting rod can be opposite along the length direction of the first connecting rod
It is slidably mounted on the first connecting rod, second group of connecting rod includes third connecting rod and fourth link, the fourth link
Length direction along the third connecting rod opposite can be slidably mounted on the third connecting rod；First cam follower
One end is installed in rotation on the second connecting rod, and first cam follower is threaded through in first cam path,
One end of second cam follower is installed in rotation in the fourth link, and second cam follower is worn
In second cam path；The first connecting rod and third connecting rod are separately fixed at first rotary shaft and the second rotary shaft
On, the second connecting rod and fourth link are separately fixed on the instrument fixation kit, and the first connecting rod and second connects
Bar is parallel to each other with third connecting rod and fourth link；The power drive drives the first connecting rod rotation, and described in drive
First cam follower is rolled along first cam path, rolling band of first cam follower along first cam path
The length direction that the second connecting rod is moved along the first connecting rod slides；The movement of the first connecting rod and second connecting rod passes through
The instrument fixation kit drives the third connecting rod and fourth link corresponding sports, thus drive jointly the second connecting rod and
Do concentric circumferences movement in one end that instrument fixation kit is fixed in fourth link.
2. distal center movement mechanism as described in claim 1, which is characterized in that the link assembly further includes that third group connects
The both ends of bar and the 4th group of connecting rod, first rotary shaft and the second rotary shaft protrude out the pedestal, first group of company
Bar is identical as third group link mechanism, and is symmetrically mounted on the both ends of first rotary shaft, first cam follower
Both ends are installed in rotation on respectively on first group of connecting rod and third group connecting rod；Second group of connecting rod and the 4th group of connecting rod
Structure is identical, and is symmetrically connected to the both ends of second rotary shaft, and the both ends of second cam follower can be rotated respectively
Ground is mounted on second group of connecting rod and the 4th group of connecting rod.
3. distal center movement mechanism as claimed in claim 1 or 2, which is characterized in that the base assembly further includes actively
Wheel and driven wheel, the driving wheel are connect with the power output end of the power drive, the driven wheel and first rotation
Shaft is fixedly connected, and the driving wheel passes through synchronous band connection with driven wheel.
4. distal center movement mechanism as claimed in claim 1 or 2, which is characterized in that a lateral edge institute of the first connecting rod
The length direction for stating first connecting rod offers sliding slot, and the second connecting rod can slidably be embedded in the cunning of the first connecting rod relatively
In slot.
5. distal center movement mechanism as claimed in claim 1 or 2, which is characterized in that a lateral edge institute of the third connecting rod
The length direction for stating third connecting rod offers sliding slot, and the fourth link can slidably be embedded in the cunning of the third connecting rod relatively
In slot.
6. distal center movement mechanism as described in claim 1, which is characterized in that the instrument fixation kit includes two devices
Tool fixed pedestal, base joint and medical endoscope, described two instrument fixed pedestals are symmetrical set, the pedestal
Connector is fixedly connected between two instrument fixed pedestals, is equipped at least two shafts on each instrument fixed pedestal,
At least two shaft is located on the same line along the vertical direction, the second connecting rod of each linkage component respectively with one
Shaft is correspondingly connected with；The medical endoscope is fixed on the base joint, center line and at least two shaft
Axis intersection and vertical.
7. distal center movement mechanism as described in claim 1, which is characterized in that the power drive includes motor and subtracts
Fast device；The output axis connection of first rotary shaft and the motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710816422.XA CN107595393B (en) | 2017-09-12 | 2017-09-12 | A kind of distal center movement mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710816422.XA CN107595393B (en) | 2017-09-12 | 2017-09-12 | A kind of distal center movement mechanism |
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| CN107595393A CN107595393A (en) | 2018-01-19 |
| CN107595393B true CN107595393B (en) | 2019-04-16 |
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| CN201710816422.XA Active CN107595393B (en) | 2017-09-12 | 2017-09-12 | A kind of distal center movement mechanism |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109512508B (en) * | 2018-12-03 | 2020-03-17 | 中国科学院深圳先进技术研究院 | Far-end center movement mechanism based on scissor fork mechanism |
| CN111870287B (en) * | 2020-07-29 | 2023-07-14 | 上海大学 | Extensible 2R1T remote movement center mechanism |
| CN114683314B (en) * | 2022-04-08 | 2024-02-09 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm joint, mechanical arm and surgical robot |
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| WO2010130817A1 (en) * | 2009-05-15 | 2010-11-18 | Katholieke Universiteit Leuven | Remote centre of motion positioner |
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