CN109820596A - A kind of robot rotating device and medical robot - Google Patents
A kind of robot rotating device and medical robot Download PDFInfo
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- CN109820596A CN109820596A CN201910242096.5A CN201910242096A CN109820596A CN 109820596 A CN109820596 A CN 109820596A CN 201910242096 A CN201910242096 A CN 201910242096A CN 109820596 A CN109820596 A CN 109820596A
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- wire rod
- rotating device
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Abstract
The present embodiments relate to the field of medical instrument technology, more particularly to a kind of robot rotating device and medical robot, it include: driving device, ball wire rod mechanism, transmission mechanism and eccentric stiffener, the output shaft of driving device and the screw rod of ball wire rod mechanism connect, drive screw rod rotation, the nut of ball wire rod mechanism and one end of transmission mechanism connect, linear reciprocating motion is converted by the torque of output, eccentric structure includes the first axle and the second axis of dislocation connection, the end of first axle is fixed, and any other position of first axle and the other end of transmission mechanism connect, it is rotated along end, puncture unit and the second axis are coaxially disposed, realize puncture unit in human body superficial or deep tissue, only use one degree of freedom, it only needs to drive using a driving device, it can complete the movement rotated around an imaginary axis , structure of the invention is simple, small volume, be not present drive gap the problem of.
Description
Technical field
The present embodiments relate to the field of medical instrument technology more particularly to a kind of robot rotating devices and medical machine
People.
Background technique
Field of medical technology is being punctured, puncture needle is needed by puncturing skin to reach target position.Puncture different bodies
When body tissue organ, puncture needle needs to adjust different needle angles, and at the same time, the excessive production of wound in order to prevent in puncture
Raw infection risk, puncture needle wound caused by skin surface needs as small as possible again.To solve the above-mentioned problems, auxiliary is punctured
The puncture rotary middle point of medical robot puncture needle will be determined to arrive skin surface wound.In clinic, in puncturing rotation
If there is mechanical structure at heart point, the entrance of puncture needle will be hindered, while mechanical structure and skin contact can generate intersection sense
The risk of dye both can guarantee so needing to develop a kind of device for having virtual rotation point and puncture the point of rotation in skin surface, simultaneously
Guarantee mechanical structure far from puncturing surface.
But structure is complicated for virtual rotation point in the prior art, and volume is excessive, while drive gap can be led to the problem of etc..
Summary of the invention
The embodiment of the present invention provides a kind of robot rotating device and medical robot, virtual in the prior art to solve
Structure is complicated for the point of rotation, and volume is excessive, while drive gap can be led to the problem of etc..
The embodiment of the present invention provides a kind of robot rotating device, comprising: driving device, ball wire rod mechanism, driver
Structure and eccentric stiffener, the output shaft of the driving device are connect with the screw rod of the ball wire rod mechanism, and the screw rod is driven to turn
Dynamic, the nut of the ball wire rod mechanism is connect with one end of the transmission mechanism, and the eccentric structure includes dislocation connection
First axle and the second axis, the end of the first axle are fixed, and any other position of the first axle and the transmission mechanism
Other end connection, puncture unit and second axis are coaxially disposed.
Wherein, the driving device is motor.
Wherein, the transmission mechanism is kinematic link.
Wherein, the eccentric stiffener is eccentric ratio, and the eccentric ratio includes the first bar and the second bar of connection, and institute
State the first bar and the second bar eccentric setting.
It wherein, further include fixed platform and connector, the bottom of the fixed platform is fixed in one end of the connector,
The other end of the connector is fixed on the end of the first axle, and the ball wire rod mechanism is installed on the fixed platform.
Wherein, further include belt drive unit, the belt drive unit include the first driving wheel, the second driving wheel and
Transmission belt, the driving device and the first driving wheel coaxial rotating, second driving wheel and the ball wire rod mechanism
Screw coaxial rotation, first driving wheel is driven by the transmission belt and second driving wheel.
Invention additionally discloses a kind of medical robots, comprising: robot as described in the present invention rotating device.
The present invention discloses a kind of robot rotating device and medical robot, and driving device will be defeated by ball wire rod mechanism
Torque out is converted into linear reciprocating motion, will be a little fixed in the first axle of eccentric stiffener, then ball wire rod mechanism is produced
Raw linear motion drives first axle to be rotated along this point by transmission mechanism, and puncture unit is misplaced along with first axle
The the second axis coaxial arrangement being arranged, therefore puncture unit can be rotated along some virtual rotation point, realize that puncture unit exists
In human body superficial or deep tissue, one degree of freedom is only used, i.e., only needs to drive using a driving device, so that it may complete
The problem of around the movement of imaginary axis rotation, structure of the invention is simple, small volume, and drive gap is not present.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of first rotation status structural schematic diagram of robot rotating device of the present invention；
Fig. 2 is a kind of second rotation status structural schematic diagram of robot rotating device of the present invention；
Fig. 3 is a kind of third rotation status structural schematic diagram of robot rotating device of the present invention；
Fig. 4 is a kind of structural schematic diagram of robot rotating device of the present invention；
The particle simplification figure that Fig. 5 is a kind of robot rotating device puncture angle of the present invention when being 60 °；
The particle simplification figure that Fig. 6 is a kind of robot rotating device puncture angle of the present invention when being 45 °；
The particle simplification figure that Fig. 7 is a kind of robot rotating device puncture angle of the present invention when being 15 °.
1, driving device；2, transmission mechanism；3, eccentric stiffener；31, first axle；32, the second axis；4, connector；5, it punctures
Unit；6, virtual rotation point；7, fixed platform；8, ball wire rod mechanism；9, belt drive unit.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
As shown in figs. 1-7, the present invention discloses a kind of robot rotating device, comprising: driving device 1, ball wire rod mechanism
8, transmission mechanism 2 and eccentric stiffener 3, the output shaft of the driving device 1 are connect with the screw rod of the ball wire rod mechanism 8, band
The screw rod rotation is moved, the nut of the ball wire rod mechanism 8 is connect with one end of the transmission mechanism 2, the eccentric structure 3
Including dislocation connection first axle 31 and the second axis 32, the end of the first axle 31 fix, and the first axle 31 other
Any position is connect with the other end of the transmission mechanism 2, and puncture unit 5 and second axis 32 are coaxially disposed.
Specifically, driving device 1 provides power to the present invention, upper computer and lower computer, control driving dress are passed through by doctor
1 generation power is set, straight reciprocating motion is converted for the torque that driving device 1 exports by ball wire rod mechanism 8, according to existing
Technology can also convert linear motion, such as cam structure etc. for the torque that driving device 1 exports using other devices.Transmission
Such straight reciprocating motion is passed to the first axle 31 of eccentric stiffener 3 by mechanism 2, since the end of first axle 31 is fixed, this
Sample can realize that eccentric structure 3 is rotated along the fixing end of first axle 31, and first axle 31 and the second axis 32 are eccentric connection
Single 5 yuan of be arranged and puncture are coaxially disposed with the second axis 32, so that the practical point of rotation of eccentric stiffener 3 is first axle 31
End, and puncture unit 5 is rotated around virtual rotation point 6, and actually this virtual rotation point 6 is with the second axis 32
End and human skin plane intersection generate.According to the motion state of 1 adjusting transmission mechanism 2 of driving device, make eccentric stiffener 3
It is in different states with puncture unit 5, that is, can produce such as the structural schematic diagram in Fig. 1-Fig. 3 when different rotary state, Fig. 4 is
The device of the invention structural schematic diagram, 60 ° of puncture angle as shown in Figure 5,45 ° of the puncture angle of Fig. 6 and Fig. 7
15 ° of puncture angle.It is worth noting that: virtual rotation point 6 in Fig. 1-Fig. 4 is virtual architecture, and mark is only for being convenient for
Observation.
The present invention discloses a kind of robot rotating device and medical robot, and driving device will be defeated by ball wire rod mechanism
Torque out is converted into linear reciprocating motion, will be a little fixed in the first axle of eccentric stiffener, then ball wire rod mechanism is produced
Raw linear motion drives first axle to be rotated along this point by transmission mechanism, and puncture unit is misplaced along with first axle
The the second axis coaxial arrangement being arranged, therefore puncture unit can be rotated along some virtual rotation point, realize that puncture unit exists
In human body superficial or deep tissue, one degree of freedom is only used, i.e., only needs to drive using a driving device, so that it may complete
The problem of around the movement of imaginary axis rotation, structure of the invention is simple, small volume, and drive gap is not present
Wherein, the driving device 1 is motor.The transmission mechanism 2 is kinematic link.The eccentric stiffener 3 is bias
Connecting rod, the eccentric ratio include the first bar and the second bar of connection, and first bar and the second bar eccentric setting.Root
According to actual needs, driving device 1, transmission mechanism 2 and eccentric machine that those skilled in the art can be used as using other devices
Structure 3.
It wherein, further include fixed platform 7 and connector 4, the fixed platform 7 is fixed in one end of the connector 4
Bottom, the other end of the connector 4 are fixed on the end of the first axle 31, and the ball wire rod mechanism 8 is installed on described
Fixed platform 7.Component of the fixed platform 7 as carrying ball wire rod mechanism 8 in the present embodiment, is mutually fixed with other mechanisms,
And the end of first axle 31 is fixed by connector 4 in 7 bottom of fixed platform, rotates it along its end.
Wherein, further include belt drive unit 9, the belt drive unit 9 include the first driving wheel, the second driving wheel with
And transmission belt, the driving device 1 and the first driving wheel coaxial rotating, second driving wheel and the ball screw machine
The screw coaxial of structure 8 rotates, and first driving wheel is driven by the transmission belt and second driving wheel.As shown in figure 4,
Driving device 1 in the present embodiment and ball wire rod mechanism 8 be it is arranged side by side, pass through belt drive unit 9 in this way, dress will be driven
The output shaft torque, for setting 1 passes to the screw rod of ball wire rod mechanism 8.
Invention additionally discloses a kind of medical robots, comprising: such as robot rotating device of the invention.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (7)
1. a kind of robot rotating device characterized by comprising driving device, ball wire rod mechanism, transmission mechanism and bias
Mechanism, the output shaft of the driving device are connect with the screw rod of the ball wire rod mechanism, drive the screw rod to rotate, the rolling
The nut of ballscrew mechanism is connect with one end of the transmission mechanism, and the eccentric structure includes the first axle and the of dislocation connection
The end of two axis, the first axle is fixed, and the other end of any other position of the first axle and the transmission mechanism connects
It connects, puncture unit and second axis are coaxially disposed.
2. robot rotating device according to claim 1, which is characterized in that the driving device is motor.
3. robot rotating device according to claim 1, which is characterized in that the transmission mechanism is kinematic link.
4. robot rotating device according to claim 1, which is characterized in that the eccentric stiffener is eccentric ratio, institute
State the first bar and the second bar that eccentric ratio includes connection, and first bar and the second bar eccentric setting.
5. robot rotating device according to claim 1, which is characterized in that further include fixed platform and connector, institute
The bottom of the fixed platform is fixed in the one end for stating connector, and the other end of the connector is fixed on the end of the first axle
Portion, the ball wire rod mechanism are installed on the fixed platform.
6. robot rotating device according to claim 1, which is characterized in that it further include belt drive unit, the skin
Belt driver includes the first driving wheel, the second driving wheel and transmission belt, and the driving device and first driving wheel are same
The screw coaxial of axis rotation, second driving wheel and the ball wire rod mechanism rotates, and first driving wheel passes through described
Transmission belt and second driving wheel are driven.
7. a kind of medical robot characterized by comprising the robot rotation as described in any one of claim 1-6
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910242096.5A CN109820596A (en) | 2019-03-28 | 2019-03-28 | A kind of robot rotating device and medical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910242096.5A CN109820596A (en) | 2019-03-28 | 2019-03-28 | A kind of robot rotating device and medical robot |
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| Publication Number | Publication Date |
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| CN109820596A true CN109820596A (en) | 2019-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910242096.5A Pending CN109820596A (en) | 2019-03-28 | 2019-03-28 | A kind of robot rotating device and medical robot |
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| CN (1) | CN109820596A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140194893A1 (en) * | 2011-01-12 | 2014-07-10 | Chang Wook Jeong | Minimally invasive surgical instrument |
| WO2017101149A1 (en) * | 2015-12-18 | 2017-06-22 | 中国科学院深圳先进技术研究院 | Vertical mobile puncture robot |
| CN107280765A (en) * | 2017-06-16 | 2017-10-24 | 北京理工大学 | A kind of puncture needle retaining release device of CT guided percutaneous transthoracic lung biopsies robot |
| CN107411821A (en) * | 2017-08-28 | 2017-12-01 | 哈尔滨理工大学 | Five degree of freedom flexibility Needle-driven Robot |
| CN210056223U (en) * | 2019-03-28 | 2020-02-14 | 北京理工大学 | Robot rotating device and medical robot |
-
2019
- 2019-03-28 CN CN201910242096.5A patent/CN109820596A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140194893A1 (en) * | 2011-01-12 | 2014-07-10 | Chang Wook Jeong | Minimally invasive surgical instrument |
| WO2017101149A1 (en) * | 2015-12-18 | 2017-06-22 | 中国科学院深圳先进技术研究院 | Vertical mobile puncture robot |
| CN107280765A (en) * | 2017-06-16 | 2017-10-24 | 北京理工大学 | A kind of puncture needle retaining release device of CT guided percutaneous transthoracic lung biopsies robot |
| CN107411821A (en) * | 2017-08-28 | 2017-12-01 | 哈尔滨理工大学 | Five degree of freedom flexibility Needle-driven Robot |
| CN210056223U (en) * | 2019-03-28 | 2020-02-14 | 北京理工大学 | Robot rotating device and medical robot |
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