CN107693120B - A kind of operated eye robot - Google Patents
A kind of operated eye robot Download PDFInfo
- Publication number
- CN107693120B CN107693120B CN201710810108.0A CN201710810108A CN107693120B CN 107693120 B CN107693120 B CN 107693120B CN 201710810108 A CN201710810108 A CN 201710810108A CN 107693120 B CN107693120 B CN 107693120B
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- Prior art keywords
- swing arm
- vertical swing
- medical instrument
- long vertical
- drive
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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
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
The invention discloses a kind of operated eye robots, belong to minimally invasive accurate medical robot technical field, it includes pedestal, medical instrument mechanism, lifting drive, rotation drive device and oscillatory gearing mechanism, the medical instrument mechanism setting is square on the base and for implementing operation, the lifting drive is for driving the medical instrument mechanism to go up and down along the vertical direction, the oscillatory gearing mechanism is for driving the medical instrument mechanism to swing, and the rotation drive device is for driving the medical instrument mechanism to rotate around vertical direction.The present invention overcomes in traditional Minimally Invasive Surgery, the defect that operator's trick is uncoordinated, easy shake, learning cycle curve are long improves the quality of operated eye.
Description
Technical field
The invention belongs to minimally invasive accurate medical robot technical field more particularly to a kind of operated eye robots.
Background technique
In the therapeutic process of disease, operation is very common treatment means, but in the actual operation process, some
The position of organ determines that operation has very high difficulty.With the development of science and technology, the raising of scientific and technological level, the mankind's
Very big transformation also has occurred in medical procedure, the horizontal, experience by the past individual for depending on medical worker, and ability is come pair
Patient treats, and is gradually converted by robot technology and is assisted in the treatment of.Such as ophthalmologic operation, since eyeball is small,
And easy damaged, therefore it is very high to the required precision of its surgical procedure.There are precision deficiency in existing ophthalmologic operation, operation is tired
The problems such as difficulty, Yi Yinqi doctor's fatigue and arm tremble, and then cause ocular trauma.
CN107019559A discloses a kind of full-automatic ophthalmologic operation robot, including surgical forceps, fixed device, the first drive
Dynamic device and the second driving device, the surgical forceps include shell, mobilizable piston rod are provided in shell, outer casing end is set
It sets there are two tweezer foot, when piston rod activity, drives two tweezer feet closures or open, fixed device is and solid for fixing surgical forceps
Determine device to be movably arranged, the first driving device can directly drive or drive the piston rod by the first transmission device
Movably it is arranged, the second device directly drives or drives the fixed device to be rotationally arranged by the second transmission device.
The full-automatic ophthalmologic operation robot architecture is complicated, and control is cumbersome, and freedom degree is less, and manufacturing cost is high.
It can be seen that the existing technology needs further improvement and improves.
Summary of the invention
The present invention is in place of avoiding above-mentioned the shortcomings of the prior art, to provide a kind of operated eye robot, is transported
Turn flexibly, there is very high stability and accuracy.
The technical scheme adopted by the invention is as follows:
A kind of operated eye robot, including pedestal, medical instrument mechanism, lifting drive, rotation drive device with
And oscillatory gearing mechanism, the medical instrument mechanism setting are square on the base and for implementing operation, the lifting drive
For driving the medical instrument mechanism to go up and down along the vertical direction, the oscillatory gearing mechanism is for driving the medical instrument machine
Structure swings, and the rotation drive device is for driving the medical instrument mechanism to rotate around vertical direction.
The medical instrument mechanism includes medical instrument knife, guarded blade utility knife tightening piece, casing joints and guarded blade utility knife installation part,
The guarded blade utility knife tightening piece is mounted on the side of guarded blade utility knife installation part, and the side of guarded blade utility knife installation part is arranged in simultaneously in casing joints
Fastening positioning is realized by guarded blade utility knife tightening piece, and the lower section of casing joints is arranged in medical instrument knife.
The lifting drive includes bracket, slide unit, lifting motor and the first ball wire driven by the lifting motor
Thick stick pair, lifting motor is rack-mount, and medical instrument mechanism is connected with slide unit, first ball screw pair include the first lead screw and
The first nut compatible with the first lead screw, the first lead screw are arranged along the vertical direction, the output shaft of the first lead screw and lifting motor
It is connected, and one end of the first lead screw passes through first nut, the first nut is mounted on slide unit, and the rotation of the first lead screw drives institute
It states the first nut and does straight reciprocating motion, the first nut drives slide unit to move synchronously, so that medical instrument mechanism be driven to go up and down.
The lifting drive further includes guiding mechanism, and guiding mechanism includes guide rod, and guide rod is rack-mount,
And guide rod is vertically arranged, slide unit is nested on the guide bar.
The oscillatory gearing mechanism drives the medical instrument mechanism to swing together with lifting drive, swings
Driving device include oscillating motor, the second ball screw assembly, linkage board, linkage block, motion arm, the first parallelogram mechanism and
Second parallelogram mechanism；First parallelogram mechanism is connected with the lifting drive, and the first parallelogram
Mechanism is hinged with the second parallelogram mechanism, and the side of motion arm is hinged with the first parallelogram mechanism, motion arm
The other side be connected with the linkage board, second ball screw assembly, includes the second lead screw and compatible with the second lead screw the
Two nuts, the second nut are mounted in the linkage block, and linkage block and linkage board are connected, the output of the second lead screw and oscillating motor
Axis is connected, and oscillating motor drives motion arm to do left and right linear reciprocating motion by the second ball screw assembly, linkage block, linkage board,
Motion arm drives the second parallelogram mechanism motion while driving the first parallelogram mechanism motion, and then described in drive
Lifting drive swings.
The oscillatory gearing mechanism includes upper beam, underbeam, intermediate beam, short vertical swing arm, the first long vertical swing arm and second
Long vertical swing arm；The short vertical swing arm is connected with above-mentioned lifting drive；Upper beam is parallel to each other with underbeam, the length of upper beam
It is longer than the length of underbeam；First long vertical swing arm and the second long vertical swing arm are parallel to each other, and the equal length of the two, and first is long
The top of vertical swing arm and the top of the second long vertical swing arm are hinged with upper beam, the lower part of the first long vertical swing arm and
The lower part of second long vertical swing arm is hinged with underbeam；Short vertical swing arm is parallel with the first long vertical swing arm, and short vertical pendulum
Less than the length of the first long vertical swing arm, the top of short vertical swing arm is hinged the length of arm with upper beam；Intermediate beam and upper beam phase
Mutually parallel, the side of intermediate beam grows that vertical swing arm is hinged, the other side and the lower part of short vertical swing arm are hinged with first；It is described
First long vertical swing arm, short vertical swing arm, upper beam and intermediate beam cooperatively form above-mentioned first parallelogram mechanism；Described first
Long vertical swing arm, the second long vertical swing arm, upper beam and underbeam cooperatively form above-mentioned second parallelogram mechanism；The motion arm
Side be hinged with the first long vertical swing arm.
The rotation drive device drives the medical instrument mechanism, lifting drive together with oscillatory gearing mechanism
It is rotated around vertical direction, rotation drive device includes the rotary driving part of shaft, rotary connector and drive shaft rotation, rotation
Connector is arranged in the top of shaft and with shaft synchronous rotary, the side of rotary connector and the oscillatory gearing mechanism phase
Even, oscillatory gearing mechanism is connected with the lifting drive.
The rotary driving part includes rotating electric machine and synchronous drive mechanism, and rotating electric machine is mounted on the pedestal, together
Step transmission mechanism is connected with the rotating electric machine and the shaft respectively.
The synchronous drive mechanism includes left synchronous pulley, right synchronous pulley and is nested between left and right synchronous pulley
Synchronous belt, right synchronous pulley are connected with the output shaft of the rotating electric machine, and left synchronous pulley is connected with the shaft.
L-type vertical plate is additionally provided on the pedestal, L-type vertical plate is arranged on the base, and the side of L-type vertical plate is provided with reinforcement
Floor, a upper lateral part of L-type vertical plate are provided with top chock, and a side lower part of L-type vertical plate is provided with step, the shaft
Top passed through out of top chock, lower part is passed through out of step.
By adopting the above-described technical solution, obtained by the present invention have the beneficial effect that
1, the present invention solves existing operated eye precision deficiency, great work intensity, Yi Yinqi doctor's fatigue and arm
The problems such as trembling improves the quality of operated eye, reduces due to human factor bring operation risk and complication, improves
The success rate of operated eye.
2, surgeon carries out ophthalmic surgical procedures using the robot in the present invention, avoids surgeon and patient
It directly contacts, avoids the cross-infection of doctor and patient in surgical procedure.
3, the present invention is combined with 3-D image guided technology, can be treated operative site and be realized precise positioning, entire to perform the operation
Process is reliable and stable, flexible operation, overcomes in traditional Minimally Invasive Surgery, and operator's trick is uncoordinated, easy shake, learning cycle are bent
The disadvantages of wire length.
Detailed description of the invention
Fig. 1 is axonometric drawing of the invention.
Fig. 2 is front view of the invention.
Fig. 3 is right view of the invention.
Fig. 4 is top view of the invention.
Wherein,
1, medical instrument knife 2, guarded blade utility knife tightening piece 3, casing joints 4, guarded blade utility knife installation part 5, slide unit 6, first
Lead screw 7, bracket 8, lifting motor 9, short vertical swing arm 10, motion arm 11, upper beam 12, linkage board 13, linkage block 14,
The long vertical swing arm 17 of screw pair 15, the second lead screw 16, second, top chock 19, vertical plate 20, adds rotary connector 18
Strong floor 21, left synchronous pulley 22, synchronous belt 23, right synchronous pulley 24, rotating electric machine 25, step 26, shaft
27, the long vertical swing arm 30 of oscillating motor 28, underbeam 29, first, intermediate beam 31, guide rod 32, pedestal
Specific embodiment
The present invention is described in further detail with specific embodiment with reference to the accompanying drawing, but the present invention is not limited to
These embodiments.
As shown in Figures 1 to 4, a kind of operated eye robot, including pedestal 32, medical instrument mechanism, lifting driving dress
It sets, rotation drive device and oscillatory gearing mechanism.
The medical instrument mechanism is arranged in the top of pedestal 32 and for implementing operation.The medical instrument mechanism includes
Medical instrument knife 1, guarded blade utility knife tightening piece 2, casing joints 3 and guarded blade utility knife installation part 4, the guarded blade utility knife tightening piece 2 are mounted on
The side of guarded blade utility knife installation part 4, casing joints 3 are arranged in the side of guarded blade utility knife installation part 4 and pass through guarded blade utility knife tightening piece 2 in fact
Now the lower section of casing joints 3 is arranged in fastening positioning, medical instrument knife 1.
The lifting drive is for driving the medical instrument mechanism to go up and down along the vertical direction.
Specifically, the lifting drive includes bracket 7, slide unit 5, lifting motor 8 and is driven by the lifting motor
Dynamic first ball screw pair.The section of the bracket 7 is U-shaped, bracket 7 include upper cross plate, lower cross plate and for connecting,
The riser of lower cross plate.Lifting motor 8 is mounted on upper cross plate, and the guarded blade utility knife installation part 4 is connected with slide unit 5, the first ball wire
Thick stick pair includes that the first lead screw 6 and first nut compatible with the first lead screw 6, the first lead screw 6 are arranged along the vertical direction, and first
Thick stick 6 is connected with the output shaft of lifting motor 8, and one end of the first lead screw 6 passes through first nut, and the first nut is mounted on cunning
On platform 5, the first lead screw 6 rotates under the drive of lifting motor 8, so that first nut is driven to do straight reciprocating motion, the
Slide unit 5 is driven to move synchronously when one nut acts, to drive medical instrument mechanism integral elevating.
It should be noted that being not limited only in the structure composition of the lifting drive above-mentioned by lifting electricity
The structure type that machine 8 and first ball screw pair cooperation driving slide unit 5 are gone up and down, can also be other structure combinations, example
Such as in such a way that hydraulic cylinder or cylinder driving slide unit 5 move, slide unit 5 and the piston rod of hydraulic cylinder or cylinder is set to be connected, by liquid
Cylinder pressure or cylinder directly drive the lifting of slide unit 5.It is of course also possible to use other frame modes, as long as being able to drive the cunning
Platform 5 is gone up and down.
The lifting drive further includes guiding mechanism, and guiding mechanism includes two guide rods 31, and each guide rod 31
Vertically be arranged, the top of each guide rod 31 is connected with equal upper cross plate, the bottom end of each guide rod 31 both pass through after slide unit 5 with institute
It states lower cross plate to be connected, slide unit 5 slides under the drive of the first nut along about 31 guide rod.
The oscillatory gearing mechanism drives the medical instrument mechanism to swing together with lifting drive.
The oscillatory gearing mechanism includes oscillating motor 27, the second ball screw assembly, linkage board 12, linkage block 13, operation
Arm 10, upper beam 11, underbeam 28, intermediate beam 30, the long vertical swing arm 29 of short vertical swing arm 9, first and the second long vertical swing arm 16.Institute
Stating upper beam 11, underbeam 28, intermediate beam 30, the long vertical swing arm 29 of short vertical swing arm 9, first and the second long vertical swing arm 16 is frame
Frame structure.The short vertical swing arm 9 is connected with the riser of the bracket 7, and short vertical swing arm 9 drives the riser synchronous when moving
Movement, to drive the lifting drive mass motion.
Specifically, the upper beam 11 is parallel to each other with underbeam 28, and the length of upper beam 11 is longer than the length of underbeam 28.The
One long vertical swing arm 16 and the second long vertical swing arm 29 are parallel to each other, and the equal length of the two, the first long vertical swing arm 16
Top and the top of the second long vertical swing arm 29 are hinged with upper beam 11, the lower part and second of the first long vertical swing arm 16
The lower part of long vertical swing arm 29 is hinged with underbeam 28.Described first long vertical swing arm 16 is located at short vertical swing arm 9 and second
Between long vertical swing arm 29.The short vertical swing arm 9 be relative to the first long vertical swing arm 29 and the second long vertical swing arm 16 and
Speech, short vertical swing arm 9 is parallel with the first long vertical swing arm 29, and the length of short vertical swing arm 9 is less than the first long vertical swing arm
The top of 29 length, short vertical swing arm 9 is hinged with upper beam 11.Intermediate beam 30 is parallel to each other with upper beam 11, intermediate beam 30
Side with the first long vertical swing arm 29 is hinged, the other side and the lower part of short vertical swing arm 9 are hinged.The first long vertical pendulum
Arm 29, short vertical swing arm 9, upper beam 11 and intermediate beam 30 cooperatively form the first parallelogram mechanism.The first long vertical pendulum
The long vertical swing arm 16 of arm 29, second, upper beam 11 and underbeam 28 cooperatively form the second parallelogram mechanism.
The motion arm 10 is located in the second parallelogram mechanism, the side of motion arm 10 and the first long vertical swing arm 16
Be hinged, the other side of motion arm 10 is connected with the linkage board 12, second ball screw assembly, include the second lead screw 15 and
Second nut compatible with the second lead screw 15, the second nut are mounted in the linkage block 13, linkage block 13 and linkage board 12
It is connected, the second lead screw 15 is connected with the output shaft of oscillating motor 27.The oscillatory gearing mechanism further includes screw pair 14, screw pair
14 are mounted on the tail portion of upper beam 11, and the second lead screw 15 is passed through out of screw pair 14.
The oscillating motor 27 drives motion arm 10 to control by the second ball screw assembly, linkage block 13, linkage board 12
Linear reciprocating motion, motion arm 10 drive the second parallelogram mechanism to transport while driving the first parallelogram mechanism motion
It is dynamic, and then the lifting drive is driven to do corresponding wobbling action.
The rotation drive device drives the medical instrument mechanism, lifting drive together with oscillatory gearing mechanism
It is rotated around vertical direction.
The rotation drive device includes the rotary driving part that shaft 26, rotary connector 17 and drive shaft 26 rotate,
Rotary connector 17 is arranged in the top of shaft 26 and with shaft synchronous rotary, the side of rotary connector 17 and the underbeam 28
It is connected.L-type vertical plate 19 is additionally provided on the pedestal 32, L-type vertical plate 19 is arranged on pedestal 32, and the side of L-type vertical plate 19 is set
It is equipped with deep floor 20, a upper lateral part of L-type vertical plate 19 is provided with top chock 18, and a side lower part of L-type vertical plate 19 is provided with
Step 25, the top of the shaft 26 is passed through out of top chock 18, lower part is passed through out of step 25.
The rotary driving part includes rotating electric machine 24 and synchronous drive mechanism, and rotating electric machine 24 is mounted on the pedestal 32
On.The synchronous drive mechanism includes left synchronous pulley 21, right synchronous pulley 23 and is nested with same between left and right synchronous pulley
Band 22 is walked, right synchronous pulley 23 is connected with the output shaft of the rotating electric machine 24, and left synchronous pulley 21 is connected with the shaft 26.
When rotating electric machine 24 operates, the shaft 26 is driven to rotate by synchronous drive mechanism, shaft 26 is connected with rotary connector 17,
The oscillatory gearing mechanism, lifting drive is driven to rotate together with medical instrument mechanism by rotary connector 17.
It should be noted that the synchronous drive mechanism is not limited only to above-mentioned synchronous belt 22 and synchronous pulley
Composite structure form can also be other synchronous driving modes, such as the combining form of sprocket wheel and synchronization chain, for another example by revolving
Rotating motor 24 directly drives the rotation of shaft 26 can also be with.The shaft 26 is driven to rotate as long as can satisfy.
The part that do not address in the present invention uses or uses for reference prior art and can be realized.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relatively important
Property.
Specific embodiment described herein is only to spiritual example explanation of the invention.Belonging to the present invention
Those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitutes, and however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (8)
1. a kind of operated eye robot, which is characterized in that driven including pedestal, medical instrument mechanism, lifting drive, rotation
Dynamic device and oscillatory gearing mechanism, the medical instrument mechanism setting are square on the base and for implementing operation, the lifting
Driving device is for driving the medical instrument mechanism to go up and down along the vertical direction, and the oscillatory gearing mechanism is for driving the doctor
It treats tool mechanism to swing, the rotation drive device is for driving the medical instrument mechanism to rotate around vertical direction；
The oscillatory gearing mechanism drives the medical instrument mechanism to swing together with lifting drive, wobble drive
Device includes oscillating motor, the second ball screw assembly, linkage board, linkage block, motion arm, the first parallelogram mechanism and second
Parallelogram mechanism；First parallelogram mechanism is connected with the lifting drive, and the first parallelogram mechanism
Be hinged with the second parallelogram mechanism, the side of motion arm is hinged with the first parallelogram mechanism, motion arm it is another
Side is connected with the linkage board, and second ball screw assembly, includes the second lead screw and the second spiral shell compatible with the second lead screw
Mother, the second nut are mounted in the linkage block, and linkage block and linkage board are connected, the output shaft phase of the second lead screw and oscillating motor
Even, oscillating motor drives motion arm to do left and right linear reciprocating motion by the second ball screw assembly, linkage block, linkage board, operates
Armband drives the second parallelogram mechanism motion while moving the first parallelogram mechanism motion, and then drives the lifting
Driving device swings；
Rotation drive device drives the medical instrument mechanism, lifting drive together with oscillatory gearing mechanism around vertical side
To rotation, rotation drive device includes the rotary driving part of shaft, rotary connector and drive shaft rotation, and rotary connector is set
Set the top in shaft and with shaft synchronous rotary, the side of rotary connector is connected with the oscillatory gearing mechanism, swings and drives
Dynamic device is connected with the lifting drive.
2. a kind of operated eye robot according to claim 1, which is characterized in that the medical instrument mechanism includes doctor
Guarded blade utility knife, guarded blade utility knife tightening piece, casing joints and guarded blade utility knife installation part are treated, the guarded blade utility knife tightening piece is mounted on guarded blade utility knife peace
The side of piece installing, casing joints are arranged in the side of guarded blade utility knife installation part and realize fastening positioning by guarded blade utility knife tightening piece,
The lower section of casing joints is arranged in medical instrument knife.
3. a kind of operated eye robot according to claim 1, which is characterized in that the lifting drive includes branch
Frame, slide unit, lifting motor and the first ball screw pair driven by the lifting motor, lifting motor is rack-mount, medical treatment
Tool mechanism is connected with slide unit, and first ball screw pair includes the first lead screw and the first nut compatible with the first lead screw, the
One lead screw is arranged along the vertical direction, and the first lead screw is connected with the output shaft of lifting motor, and one end of the first lead screw is across described
First nut, the first nut are mounted on slide unit, and the rotation of the first lead screw drives first nut to do straight reciprocating motion, and first
Nut drives slide unit to move synchronously, so that medical instrument mechanism be driven to go up and down.
4. a kind of operated eye robot according to claim 3, which is characterized in that the lifting drive further includes
Guiding mechanism, guiding mechanism include guide rod, and guide rod is rack-mount, and guide rod is vertically arranged, and slide unit is nested with
On guide rod.
5. a kind of operated eye robot according to claim 1, which is characterized in that the oscillatory gearing mechanism includes upper
Beam, underbeam, intermediate beam, short vertical swing arm, the first long vertical swing arm and the second long vertical swing arm；The short vertical swing arm with it is above-mentioned
Lifting drive is connected；Upper beam is parallel to each other with underbeam, and the length of upper beam is longer than the length of underbeam；First long vertical swing arm and
Second long vertical swing arm is parallel to each other, and the equal length of the two, the top of the first long vertical swing arm and the second long vertical pendulum
The top of arm is hinged with upper beam, the lower part of the lower part of the first long vertical swing arm and the second long vertical swing arm with underbeam phase
Hingedly；Short vertical swing arm is parallel with the first long vertical swing arm, and the length of short vertical swing arm is less than the length of the first long vertical swing arm
Degree, the top of short vertical swing arm is hinged with upper beam；Intermediate beam is parallel to each other with upper beam, and the side of intermediate beam is long vertical with first
Swing arm is hinged, the other side and the lower part of short vertical swing arm are hinged；Described first long vertical swing arm, short vertical swing arm, upper beam
And intermediate beam cooperatively forms above-mentioned first parallelogram mechanism；Described first long vertical swing arm, the second long vertical swing arm, upper beam
And underbeam cooperatively forms above-mentioned second parallelogram mechanism；The side of the motion arm is hinged with the first long vertical swing arm.
6. a kind of operated eye robot according to claim 1, which is characterized in that the rotary driving part includes rotation
Motor and synchronous drive mechanism, rotating electric machine are mounted on the pedestal, synchronous drive mechanism respectively with the rotating electric machine and
The shaft is connected.
7. a kind of operated eye robot according to claim 6, which is characterized in that the synchronous drive mechanism includes a left side
Synchronous pulley, right synchronous pulley and the synchronous belt being nested between left and right synchronous pulley, right synchronous pulley and the rotating electric machine
Output shaft be connected, left synchronous pulley is connected with the shaft.
8. a kind of operated eye robot according to claim 1, which is characterized in that be additionally provided with L-type on the pedestal
Vertical plate, L-type vertical plate are arranged on the base, and the side of L-type vertical plate is provided with deep floor, and a upper lateral part of L-type vertical plate is provided with
Top chock, a side lower part of L-type vertical plate are provided with step, and the top of the shaft passes through out of top chock, lower part
It is passed through out of step.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710810108.0A CN107693120B (en) | 2017-09-11 | 2017-09-11 | A kind of operated eye robot |
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|---|---|---|---|
| CN201710810108.0A CN107693120B (en) | 2017-09-11 | 2017-09-11 | A kind of operated eye robot |
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| CN107693120A CN107693120A (en) | 2018-02-16 |
| CN107693120B true CN107693120B (en) | 2019-10-01 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108652673A (en) * | 2018-04-03 | 2018-10-16 | 川北医学院附属医院 | Breast sonography checks system and inspection method |
| CN109589173A (en) * | 2018-12-20 | 2019-04-09 | 中国科学院自动化研究所 | A kind of operator |
| CN109620403B (en) * | 2018-12-28 | 2020-04-10 | 中国科学院自动化研究所 | Operating device |
| CN109770970B (en) * | 2019-03-08 | 2021-05-04 | 康年医疗科技有限公司 | Abdominal cavity minimally invasive surgery robot |
| CN110478044A (en) * | 2019-09-12 | 2019-11-22 | 上海交通大学医学院附属第九人民医院 | Multiple degrees of freedom operating robot based on high rigidity parallelogram telecentricity mechanism |
| CN110711032B (en) * | 2019-10-21 | 2020-08-25 | 山东大学 | Miniature surgical robot with rear-mounted motor |
| CN111544198B (en) * | 2020-05-14 | 2021-04-20 | 西安交通大学 | Flexible operation driving system of ophthalmic surgery robot |
| CN114209493A (en) * | 2021-11-29 | 2022-03-22 | 中国中医科学院眼科医院 | Ophthalmological cornea operation polisher |
| CN115959411B (en) * | 2022-11-22 | 2023-08-15 | 正杨企业有限公司 | Automatic feeding device and method for copper part processing |
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| US10888384B2 (en) * | 2007-05-04 | 2021-01-12 | Technische Universiteit Eindhoven | Surgical robot |
| US8152827B2 (en) * | 2008-01-11 | 2012-04-10 | Restoration Robotics, Inc. | Systems and methods for harvesting, storing, and implanting hair grafts |
| CN107019559A (en) * | 2016-11-16 | 2017-08-08 | 温州医科大学附属眼视光医院 | Full-automatic ophthalmologic operation robot |
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