CN109431611A - A kind of flexibility three arm type operating robot - Google Patents
A kind of flexibility three arm type operating robot Download PDFInfo
- Publication number
- CN109431611A CN109431611A CN201811585782.4A CN201811585782A CN109431611A CN 109431611 A CN109431611 A CN 109431611A CN 201811585782 A CN201811585782 A CN 201811585782A CN 109431611 A CN109431611 A CN 109431611A
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- China
- Prior art keywords
- claw
- mechanical arm
- type operating
- head
- operating robot
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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
- A61B34/70—Manipulators specially adapted for use in 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
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of flexible three arm type operating robots, including chassis, the bottom of the chassis is fixedly connected with traveling wheel, the top of the chassis is fixedly connected with fuselage, interlocking has first mechanical arm inside the centre of the fuselage, the top of the fuselage is fixedly connected with chest, and the surface scarfing of the connecting rod has fixed button, and the connecting rod and strut are rotatablely connected.This kind invention design is reasonable, practical function, by being provided with claw, and claw is arc claw structure, people is replaced to do drawing movement to medical instrument by claw, and pass through the electric connection of claw and fixed button, and then claw is controlled, it is connected by being provided with strut and connecting rod, and by rotating dog with bearing block, and then can achieve the effect of adjustment claw angle, and then instrument is fixed convenient for claw, by being provided with gear set on head, it can be conveniently adjusted the angle on head, and then effectively convenient for observing and recording.
Description
Technical field
The present invention relates to technical field of medical equipment, in particular to a kind of flexible three arm type operating robot.
Background technique
It is essentially all that a patient and several assistants perform the operation, assistant is only to play to lead when doing surgical operation
The effect of organ and tissue is drawn, there may be many difficulties in real life, such as medical practitioner assistant from far-off regions lacks, warp
Deficiency is tested, or gripping camera lens, instrument natively have damage to the human synovial of assistant doctor for a long time, physical demands is excessive,
Participate in them in auxiliary operation from extracting more time energy out, also the hospital medical treatment to lack health care professional
Work creates possibility, overwhelming majority operation can one people of patient do, there is certain limitation.
Summary of the invention
The main purpose of the present invention is to provide a kind of flexible three arm type operating robots, can effectively solve background technique
The problems in.
To achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of flexibility three arm type operating robot, including chassis, the bottom of the chassis is fixedly connected with traveling wheel, described
The top of chassis is fixedly connected with fuselage, and interlocking has first mechanical arm, the top of the fuselage inside the centre of the fuselage
End is fixedly connected with chest, and the top of the chest is rotatably connected to head by gear set, and the interior side on the head is embedding
It is connected to controller, the inside other side interlocking on the head has battery pack, and the centre on the head is provided with camera, institute
The side for stating chest is rotatably connected to second mechanical arm, and the other side of the chest is rotatably connected to third mechanical arm, and described
Three-mechanical arm includes that bearing block, connecting rod, strut and claw composition, one end of the connecting rod are fixedly connected with the bearing seat,
The surface scarfing of the connecting rod has fixed button, and the connecting rod and strut are rotatablely connected, and one end of the strut passes through rotation
It ships and resell on another market and is rotatablely connected with claw.
Further, the claw is arc claw structure, and the claw is done by rotating dog to horizontally rotate, the claw
Rotational angle be 0-150 degree, the claw and fixed button are electrically connected.
Further, the connecting rod and strut relatively rotate, and the angle of the strut rotation is 30-120 degree.
Further, the chassis is I-shape construction, and the material of the chassis is to appoint in titanium alloy or stainless steel material
It anticipates one kind.
Further, it is relatively rotated between the head and chest by gear set, the rotational angle on the head is 0-
180 degree, the inside on the head is also integrally disposed lighting device and signal receiving device.
Further, the controller and camera are electrically connected, and the controller and battery pack are electrically connected, the control
The model LP2-14M12R programmable controller of device processed.
Further, the second mechanical arm is identical as the structure of third mechanical arm, the second mechanical arm and third machine
Tool arm is symmetrically distributed in the two sides of chest.
Further, the traveling wheel band, which is stopped, takes turns, and the wheel face of the traveling wheel is silica gel material, and before the traveling wheel
End is additionally provided with anticollision protrusion.
Further, the first mechanical arm is telescopic rotating mechanism, and the front end of the first mechanical arm is provided with
Electromagnet, the rotation angle of the first mechanical arm are 0-270 °, and the first mechanical arm is for adsorbing and fixing medical instrument.
Further, the battery pack is rechargable battery battery, and the battery pack is any one in lithium battery or lead-acid battery
Kind.
Compared with prior art, the invention has the following beneficial effects: this kind invention designs rationally, and practical function passes through
It is provided with claw, and claw is arc claw structure, replaces people to do drawing movement to medical instrument by claw, and pass through claw
With the electric connection of fixed button, and then claw is controlled, by being provided with strut and connecting rod, and by rotating dog and
Bearing block connection, and then can achieve the effect of adjustment claw angle, and then instrument is fixed convenient for claw, pass through setting
There are controller and camera, operation can be recorded by camera, it, can be effective by being provided with gear set on head
The angle for being conveniently adjusted head, and then convenient for observing and recording, inventive structure multiplicity, functional is suitble to be widely popularized.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is mechanical arm structural schematic diagram of the present invention；
Fig. 3 is head construction schematic diagram of the present invention.
In figure: 1, chassis；2, traveling wheel；3, fuselage；4, first mechanical arm；5, second mechanical arm；6, head；7, chest；
8, third mechanical arm；9, bearing block；10, strut；11, rotating dog；12, claw；13, connecting rod；14, fixed button；15, it images
Head；16, controller；17, battery pack；18, gear set.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
As shown in Figure 1-3, a kind of flexibility three arm type operating robot, including chassis 1, the bottom of the chassis 1 is fixed to be connected
It is connected to traveling wheel 2, the top of the chassis 1 is fixedly connected with fuselage 3, and interlocking has first inside the centre of the fuselage 3
Mechanical arm 4, the top of the fuselage 3 are fixedly connected with chest 7, and the top of the chest 7 is rotatably connected to by gear set 18
Head 6, the interior side interlocking on the head 6 have controller 16, and the inside other side interlocking on the head 6 has battery pack 17,
The centre on the head 6 is provided with camera 15, and the side of the chest 7 is rotatably connected to second mechanical arm 5, the chest
The other side in portion 7 is rotatably connected to third mechanical arm 8, and the third mechanical arm 8 includes bearing block 9, connecting rod 13, strut 10
It is formed with claw 12, one end of the connecting rod 13 is fixedly connected with bearing block 9, and the surface scarfing of the connecting rod 13 has fixation
Button 14, the connecting rod 13 are rotatablely connected with strut 10, and one end of the strut 10 is rotated by rotating dog 11 and claw 12
Connection.
Wherein, the claw 12 is arc claw structure, and the claw 12 is done by rotating dog 11 to horizontally rotate, the card
The rotational angle of pawl 12 is 0-150 degree, and the claw 12 is electrically connected with fixed button 14, can replace people couple by claw 12
Medical instrument does drawing movement, and passes through the electric connection of claw 12 and fixed button 14, and then control claw 12.
Wherein, the connecting rod 13 is relatively rotated with strut 10, and the angle that the strut 10 rotates is 30-120 degree, can be with
By the relative motion of connecting rod 13 and strut 10, the angle of claw 12 is adjusted, and then convenient for fixing.
Wherein, the chassis 1 is I-shape construction, and the material of the chassis 1 is any in titanium alloy or stainless steel material
One kind can play the effect of support to robot, and the material of chassis 1 can effectively increase its service life.
Wherein, it is relatively rotated between the head 6 and chest 7 by gear set 18, the rotational angle on the head 6 is 0-
180 degree, the inside on the head 6 is also integrally disposed lighting device and signal receiving device.
Wherein, the controller 16 is electrically connected with camera 15, and the controller 16 is electrically connected with battery pack 17, institute
The model LP2-14M12R programmable controller of controller 16 is stated, can be made by the connection of controller 16 and camera 15
Camera 15 records operation video frequency.
Wherein, the second mechanical arm 5 is identical as the structure of third mechanical arm 8, and the second mechanical arm 5 and third are mechanical
Arm 8 is symmetrically distributed in the two sides of chest 7.
Wherein, the traveling wheel 2 is taken turns with stopping, and the wheel face of the traveling wheel 2 is silica gel material, and before the traveling wheel 2
End is additionally provided with anticollision protrusion.
Wherein, the first mechanical arm 4 is telescopic rotating mechanism, and the front end of the first mechanical arm 4 is provided with electricity
Magnet, the rotation angle of the first mechanical arm 4 are 0-270 °, and the first mechanical arm 4 is for adsorbing and fixing medical instrument.
Wherein, the battery pack 17 is rechargable battery battery, and the battery pack 17 is any one in lithium battery or lead-acid battery
Kind.
It should be noted that the present invention is a kind of flexible three arm type operating robot, in use, passing through bearing block 9 first
The angle of second mechanical arm 5 and third mechanical arm 8 is adjusted with rotating dog 11, and then reaches the angle effect of adjustment claw 12,
Instrument is pulled by claw 12, control operation is carried out to claw 12 by fixed button 14, passes through camera shooting at the time of surgery,
First 15 and controller 16 cooperation, operation is recorded, and can by rotate gear group 18 adjust head 6 angle, into
And convenient for observing and recording.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (10)
1. a kind of flexibility three arm type operating robot, including chassis (1), the bottom of the chassis (1) are fixedly connected with traveling wheel
(2), the top of the chassis (1) is fixedly connected with fuselage (3), it is characterised in that: embedding inside the centre of the fuselage (3)
It is connected to first mechanical arm (4), the top of the fuselage (3) is fixedly connected with chest (7), and the top of the chest (7) passes through tooth
Wheel group (18) is rotatably connected to head (6), and the interior side interlocking of the head (6) has controller (16), the head (6)
Internal other side interlocking has battery pack (17), and the centre of the head (6) is provided with camera (15), the chest (7)
Side be rotatably connected to second mechanical arm (5), the other side of the chest (7) is rotatably connected to third mechanical arm (8), described
Third mechanical arm (8) includes bearing block (9), connecting rod (13), strut (10) and claw (12) composition, the connecting rod (13)
One end be fixedly connected with bearing block (9), the surface scarfing of the connecting rod (13) has fixed button (14), the connecting rod
(13) it is rotatablely connected with strut (10), one end of the strut (10) is rotatablely connected by rotating dog (11) and claw (12).
2. a kind of flexible three arm type operating robot according to claim 1, it is characterised in that: the claw (12) is arc
Shape claw structure, the claw (12) is done by rotating dog (11) to be horizontally rotated, and the rotational angle of the claw (12) is 0-150
Degree, the claw (12) and fixed button (14) are electrically connected.
3. a kind of flexible three arm type operating robot according to claim 1, it is characterised in that: the connecting rod (13) with
Strut (10) relatively rotates, and the angle of strut (10) rotation is 30-120 degree.
4. a kind of flexible three arm type operating robot according to claim 1, it is characterised in that: the chassis (1) is work
Character form structure, the material of the chassis (1) are any one in titanium alloy or stainless steel material.
5. a kind of flexible three arm type operating robot according to claim 1, it is characterised in that: the head (6) and chest
It is relatively rotated between portion (7) by gear set (18), the rotational angle of the head (6) is 0-180 degree, the head (6)
Inside is also integrally disposed lighting device and signal receiving device.
6. a kind of flexible three arm type operating robot according to claim 1, it is characterised in that: the controller (16) with
Camera (15) is electrically connected, and the controller (16) and battery pack (17) are electrically connected, the model of the controller (16)
LP2-14M12R programmable controller.
7. a kind of flexible three arm type operating robot according to claim 1, it is characterised in that: the second mechanical arm
(5) identical as the structure of third mechanical arm (8), the second mechanical arm (5) and third mechanical arm (8) are symmetrically distributed in chest
(7) two sides.
8. a kind of flexible three arm type operating robot according to claim 1, it is characterised in that: traveling wheel (2) band
It stops and takes turns, the wheel face of the traveling wheel (2) is silica gel material, and the front end of the traveling wheel (2) is additionally provided with anticollision protrusion.
9. a kind of flexible three arm type operating robot according to claim 1, it is characterised in that: the first mechanical arm
It (4) is telescopic rotating mechanism, the front end of the first mechanical arm (4) is provided with electromagnet, the first mechanical arm (4)
Rotating angle is 0-270 °, and the first mechanical arm (4) is for adsorbing and fixing medical instrument.
10. a kind of flexible three arm type operating robot according to claim 1, it is characterised in that: the battery pack (17)
For rechargable battery battery, the battery pack (17) is any one in lithium battery or lead-acid battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811585782.4A CN109431611B (en) | 2018-12-25 | 2018-12-25 | Flexible three-arm type surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811585782.4A CN109431611B (en) | 2018-12-25 | 2018-12-25 | Flexible three-arm type surgical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109431611A true CN109431611A (en) | 2019-03-08 |
| CN109431611B CN109431611B (en) | 2021-08-06 |
Family
ID=65535256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811585782.4A Active CN109431611B (en) | 2018-12-25 | 2018-12-25 | Flexible three-arm type surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109431611B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022027879A1 (en) * | 2020-08-07 | 2022-02-10 | 山东威瑞外科医用制品有限公司 | Lightweight surgical robot |
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| CN104605940A (en) * | 2012-07-03 | 2015-05-13 | 库卡实验仪器有限公司 | Surgical instrumentation and drivetrain assembly for a surgical instrument, in particular a robot-controlled instrument and surgical instrument |
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|---|---|---|---|---|
| WO2022027879A1 (en) * | 2020-08-07 | 2022-02-10 | 山东威瑞外科医用制品有限公司 | Lightweight surgical robot |
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| Publication number | Publication date |
|---|---|
| CN109431611B (en) | 2021-08-06 |
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