CN109431611B

CN109431611B - Flexible three-arm type surgical robot

Info

Publication number: CN109431611B
Application number: CN201811585782.4A
Authority: CN
Inventors: 张严; 李金东; 佟倜; 张广鑫; 李子豪; 王星予
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2018-12-25
Filing date: 2018-12-25
Publication date: 2021-08-06
Anticipated expiration: 2038-12-25
Also published as: CN109431611A

Abstract

The invention discloses a flexible three-arm type surgical robot which comprises an underframe, wherein the bottom of the underframe is fixedly connected with a traveling wheel, the top end of the underframe is fixedly connected with a machine body, a first mechanical arm is embedded in the center of the machine body, the top end of the machine body is fixedly connected with a chest, a fixed button is embedded on the surface of a connecting rod, and the connecting rod is rotatably connected with a support rod. The medical instrument angle adjusting device is reasonable in design and practical in function, the claw is arranged and is of an arc claw type structure, a user can do drawing action on the medical instrument through the claw instead of people, the claw is electrically connected with the fixed button through the claw, the claw is further controlled, the supporting rod and the connecting rod are arranged, the rotating pin is connected with the bearing seat, the effect of adjusting the claw angle can be achieved, the claw can fix the instrument conveniently, the angle of the head can be effectively adjusted conveniently through the gear set arranged on the head, and further observation and recording are facilitated.

Description

Flexible three-arm type surgical robot

Technical Field

The invention relates to the technical field of medical equipment, in particular to a flexible three-arm type surgical robot.

Background

When a surgical operation is performed, basically, an operator and a plurality of assistants perform the operation, the assistants only have the effect of stretching organs and tissues, and a lot of difficulties exist in the actual life, for example, the professional doctors in remote areas lack of assistants, the experience is insufficient, or the human body joints of the assistant doctors are damaged by holding lenses and instruments for a long time, the physical strength is too high, so that the operator cannot draw more time and energy to participate in the auxiliary operation, the possibility is created for the hospital medical work lacking professional medical staff, most of the operations can be performed by one operator, and certain limitations exist.

Disclosure of Invention

The invention mainly aims to provide a flexible three-arm type surgical robot which can effectively solve the problems in the background technology.

In order to achieve the purpose, the invention adopts the technical scheme that:

a flexible three-arm type surgical robot comprises a chassis, wherein walking wheels are fixedly connected to the bottom of the chassis, a machine body is fixedly connected to the top end of the chassis, a first mechanical arm is embedded inside the center of the machine body, a chest is fixedly connected to the top end of the machine body, a head is rotatably connected to the top end of the chest through a gear set, a controller is embedded in one side of the inside of the head, a battery pack is embedded in the other side of the inside of the head, a camera is arranged at the center of the head, a second mechanical arm is rotatably connected to one side of the chest, a third mechanical arm is rotatably connected to the other side of the chest, the third mechanical arm comprises a bearing seat, a connecting rod, a support rod and a clamping jaw, one end of the connecting rod is fixedly connected with the bearing seat, a fixing button is embedded in the surface of the connecting rod, and the connecting rod is rotatably connected with the support rod, one end of the supporting rod is rotatably connected with the clamping jaw through a rotating pin.

Furthermore, the jack catch is arc claw formula structure, the horizontal rotation is done through the swivel pin to the jack catch, the turned angle of jack catch is 0-150 degrees, the jack catch and fixed button electric connection.

Furthermore, the connecting rod and the supporting rod rotate relatively, and the rotating angle of the supporting rod is 30-120 degrees.

Further, the underframe is of an I-shaped structure, and the underframe is made of any one of titanium alloy and stainless steel.

Furthermore, the head and the chest relatively rotate through a gear set, the rotation angle of the head is 0-180 degrees, and a lighting device and a signal receiving device are further integrated in the head.

Further, the controller is electrically connected with the camera, the controller is electrically connected with the battery pack, and the model of the controller is LP2-14M12R programmable controller.

Further, the second mechanical arm and the third mechanical arm have the same structure, and are symmetrically distributed on two sides of the chest.

Further, the walking wheel belt wheel of stopping, the wheel face of walking wheel is the silica gel material, just the front end of walking wheel still is provided with the anticollision arch.

Furthermore, the first mechanical arm is a telescopic rotating mechanism, an electromagnet is arranged at the front end of the first mechanical arm, the rotating angle of the first mechanical arm is 0-270 degrees, and the first mechanical arm is used for adsorbing and fixing medical instruments.

Further, the battery pack is a rechargeable battery, and the battery pack is any one of a lithium battery and a lead-acid battery.

Compared with the prior art, the invention has the following beneficial effects: the invention has reasonable design and practical function, the claw is arranged and has an arc claw structure, the claw replaces people to draw medical equipment, the claw is electrically connected with the fixed button to control the claw, the support rod and the connecting rod are arranged and are connected with the bearing seat through the rotating pin, so that the effect of adjusting the angle of the claw can be achieved, the claw can conveniently fix the equipment, the operation can be recorded through the camera through the controller and the camera, and the angle of the head can be effectively and conveniently adjusted through the gear set arranged on the head to further facilitate observation and recording.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of a robotic arm according to the present invention;

fig. 3 is a schematic view of the head structure of the present invention.

In the figure: 1. a chassis; 2. a traveling wheel; 3. a body; 4. a first robot arm; 5. a second mechanical arm; 6. a head portion; 7. a chest; 8. a third mechanical arm; 9. a bearing seat; 10. a strut; 11. a rotation pin; 12. a claw; 13. a connecting rod; 14. a fixed button; 15. a camera; 16. a controller; 17. a battery pack; 18. a gear set.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1-3, a flexible three-arm type surgical robot comprises a chassis 1, a walking wheel 2 is fixedly connected to the bottom of the chassis 1, a body 3 is fixedly connected to the top end of the chassis 1, a first mechanical arm 4 is embedded inside the center part of the body 3, a chest 7 is fixedly connected to the top end of the body 3, a head 6 is rotatably connected to the top end of the chest 7 through a gear set 18, a controller 16 is embedded in one side of the inside of the head 6, a battery pack 17 is embedded in the other side of the inside of the head 6, a camera 15 is arranged at the center part of the head 6, a second mechanical arm 5 is rotatably connected to one side of the chest 7, a third mechanical arm 8 is rotatably connected to the other side of the chest 7, the third mechanical arm 8 comprises a bearing seat 9, a connecting rod 13, a supporting rod 10 and a claw 12, one end of the connecting rod 13 is fixedly connected with the bearing seat 9, the surface of connecting rod 13 has inlayed fixed button 14, connecting rod 13 rotates with branch 10 and is connected, the one end of branch 10 is connected with jack catch 12 through rotatory round pin 11 and is rotated.

The clamping jaw 12 is of an arc-shaped jaw structure, the clamping jaw 12 horizontally rotates through the rotating pin 11, the rotating angle of the clamping jaw 12 is 0-150 degrees, the clamping jaw 12 is electrically connected with the fixed button 14, a person can be replaced by the clamping jaw 12 to pull medical equipment, and the clamping jaw 12 is controlled through the electrical connection of the clamping jaw 12 and the fixed button 14.

The connecting rod 13 and the supporting rod 10 rotate relatively, the rotating angle of the supporting rod 10 is 30-120 degrees, and the angle of the clamping jaw 12 can be adjusted through the relative movement of the connecting rod 13 and the supporting rod 10, so that the fixing is facilitated.

The base frame 1 is of an I-shaped structure, the base frame 1 is made of any one of titanium alloy and stainless steel, the effect of supporting the robot can be achieved, and the service life of the base frame 1 can be effectively prolonged.

The head 6 and the chest 7 relatively rotate through a gear set 18, the rotation angle of the head 6 is 0-180 degrees, and an illuminating device and a signal receiving device are further integrated in the head 6.

The controller 16 is electrically connected with the camera 15, the controller 16 is electrically connected with the battery pack 17, the model of the controller 16 is a programmable controller LP2-14M12R, and the camera 15 can record operation videos through the connection between the controller 16 and the camera 15.

The second mechanical arm 5 and the third mechanical arm 8 have the same structure, and the second mechanical arm 5 and the third mechanical arm 8 are symmetrically distributed on two sides of the chest 7.

Wherein, 2 areas of walking wheel are stopped the wheel, the wheel face of walking wheel 2 is the silica gel material, just the front end of walking wheel 2 still is provided with the anticollision arch.

The first mechanical arm 4 is a telescopic rotating mechanism, an electromagnet is arranged at the front end of the first mechanical arm 4, the rotating angle of the first mechanical arm 4 is 0-270 degrees, and the first mechanical arm 4 is used for adsorbing and fixing medical instruments.

The battery pack 17 is a rechargeable battery, and the battery pack 17 is any one of a lithium battery and a lead-acid battery.

It should be noted that, when the flexible three-arm surgical robot is used, the angle of the second mechanical arm 5 and the angle of the third mechanical arm 8 are adjusted through the bearing seat 9 and the rotating pin 11, so as to achieve the effect of adjusting the angle of the jaw 12, when the jaw 12 pulls an instrument, the jaw 12 is controlled and operated through the fixed button 14, when in surgery, the surgery is recorded through the matching of the camera 15 and the controller 16, and the angle of the head 6 can be adjusted through the rotating gear set 18, so that the record can be observed conveniently.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a flexible three-arm type surgical robot, includes chassis (1), the bottom fixedly connected with walking wheel (2) of chassis (1), the top fixedly connected with fuselage (3) of chassis (1), its characterized in that: the inside scarf joint of central point of fuselage (3) has first arm (4), the top fixedly connected with chest (7) of fuselage (3), the top of chest (7) is rotated through gear train (18) and is connected with head (6), the inside one side scarf joint of head (6) has controller (16), the inside opposite side scarf joint of head (6) has group battery (17), the central point of head (6) is provided with camera (15), one side of chest (7) is rotated and is connected with second arm (5), the opposite side of chest (7) is rotated and is connected with third arm (8), third arm (8) are including bearing frame (9), connecting rod (13), branch (10) and jack catch (12), the one end and bearing frame (9) fixed connection of connecting rod (13), the surface scarf joint of connecting rod (13) has set button (14), the connecting rod (13) is rotatably connected with the supporting rod (10), and one end of the supporting rod (10) is rotatably connected with the clamping jaw (12) through a rotating pin (11);

the first mechanical arm (4) is a telescopic rotating mechanism, an electromagnet is arranged at the front end of the first mechanical arm (4), the rotating angle of the first mechanical arm (4) is 0-270 degrees, and the first mechanical arm (4) is used for adsorbing and fixing medical instruments;

the clamping jaw (12) is of an arc-shaped jaw structure, the clamping jaw (12) horizontally rotates through a rotating pin (11), the rotating angle of the clamping jaw (12) is 0-150 degrees, the clamping jaw (12) is electrically connected with a fixing button (14), an instrument is pulled through the clamping jaw (12), and the clamping jaw (12) is controlled and operated through the fixing button (14);

the connecting rod (13) and the supporting rod (10) rotate relatively, and the rotating angle of the supporting rod (10) is 30-120 degrees;

the chassis (1) is of an I-shaped structure, and the chassis (1) is made of any one of titanium alloy and stainless steel;

the head (6) and the chest (7) rotate relatively through a gear set (18), the rotation angle of the head (6) is 0-180 degrees, and a lighting device and a signal receiving device are further integrated in the head (6);

the controller (16) is electrically connected with the camera (15), the controller (16) is electrically connected with the battery pack (17), and the model of the controller (16) is LP2-14M12R programmable controller;

the second mechanical arm (5) and the third mechanical arm (8) have the same structure, and the second mechanical arm (5) and the third mechanical arm (8) are symmetrically distributed on two sides of the chest (7);

the walking wheel (2) is provided with a brake wheel, the wheel surface of the walking wheel (2) is made of silica gel, and the front end of the walking wheel (2) is also provided with an anti-collision bulge;

the battery pack (17) is a rechargeable battery, and the battery pack (17) is any one of a lithium battery and a lead-acid battery.