CN110680505A - Eight-degree-of-freedom surgical manipulator with closed-loop connecting rod - Google Patents
Eight-degree-of-freedom surgical manipulator with closed-loop connecting rod Download PDFInfo
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- CN110680505A CN110680505A CN201910891985.4A CN201910891985A CN110680505A CN 110680505 A CN110680505 A CN 110680505A CN 201910891985 A CN201910891985 A CN 201910891985A CN 110680505 A CN110680505 A CN 110680505A
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- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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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
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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
- A61B34/70—Manipulators specially adapted for use in surgery
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Heart & Thoracic Surgery (AREA)
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Abstract
The invention provides an eight-degree-of-freedom surgical manipulator with a closed-loop connecting rod, which comprises a position adjusting component, a posture adjusting component and a surgical instrument, wherein the posture adjusting component is connected to the position adjusting component, the posture adjusting component has the characteristic of a remote center fixed point, the surgical instrument is connected to the posture adjusting component, the position adjusting component is used for adjusting the remote center fixed point position, and the posture adjusting component is used for adjusting the posture of the surgical instrument. The invention has the beneficial effects that: the joint arm is connected with the sliding rail assembly, the position of the motionless point of the far center point can be adjusted with multiple degrees of freedom, the posture adjusting system can adjust the posture of the surgical instrument in multiple directions around the motionless point of the far center point, the surgical instrument is driven to realize the telecentric motion required by the minimally invasive surgery, the structure is simple and flexible, the occupied space is small, the system comprises a closed loop connecting rod module, the driving group required by the joint is effectively moved forwards, the structure is compact, the motion is stable, the posture is decoupled, and the driving is convenient and flexible.
Description
Technical Field
The invention relates to the field of surgical robots, in particular to an eight-degree-of-freedom surgical manipulator with a closed-loop connecting rod.
Background
In recent years, surgical robots have been rapidly developed in the medical field. Meanwhile, the continuous application and development of the minimally invasive surgery in the clinical surgery continuously show the advantages: the wound is little, and is painful light, and the operation precision is high, and the postoperative resumes soon, for the operation demand of coping with different operations, we have all proposed higher requirements to operation robot's operation precision, motion flexibility and simple operation nature etc..
The traditional surgical robot cannot have telecentric characteristics and cannot be well applied to the medical industry, for example, the Chinese patent (CN 108274449A) invents an industrial operation type six-degree-of-freedom series robot and the Chinese patent (CN 104816293A) invents an eight-degree-of-freedom mobile mechanical arm; with the development of medical operation robots, some surgical robots have telecentric motion characteristics, for example, a robot for minimally invasive surgery of abdominal cavity is invented in chinese patent (CN 109009443 a), and a robot for minimally invasive surgery, surgical equipment using the robot and a main operating arm for minimally invasive surgery are invented in chinese patent (CN 109091230 a). The invention of the patent has the characteristics of telecentric motion, but most of the devices adopt a complex link mechanism or a complex transmission system to realize telecentric motion, and the problems of complex driving mode, difficult processing and manufacturing, larger accumulated error, low stability and larger occupied space generally exist. There is therefore a need for a new surgical robot that addresses the various problems of the above-described robot while having a telecentric feature.
Disclosure of Invention
In view of the above, an embodiment of the present invention provides an eight-degree-of-freedom surgical manipulator with a closed-loop connecting rod, the manipulator having a telecentric motionless point and being capable of telecentric motion, the manipulator comprising: a position adjustment assembly, a posture adjustment assembly and a surgical instrument; the position adjusting assembly comprises a base, a linear sliding rail assembly, a first connecting arm, a second connecting arm, a third connecting arm and a fourth connecting arm, and the linear sliding rail assembly is arranged on the base; the lower end of the first connecting arm is connected with the linear slide rail assembly through a linear moving pair, the upper end of the first connecting arm is connected with one end of the second connecting arm through a first rotating pair, the axial direction of the first rotating pair is consistent with that of the linear moving pair, the other end of the second connecting arm is connected with one end of the third connecting arm through a second rotating pair, the other end of the third connecting arm is connected with one end of the fourth connecting arm through a third rotating pair, the other end of the fourth connecting arm is connected with the arc-shaped plate through a fourth rotating pair, the axes of the second rotating pair and the third rotating pair are parallel to that of the first rotating pair, the first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are of hollow structures, and driving mechanisms are arranged in the connecting arms and respectively used for driving the first rotating pair, the second rotating pair, the third rotating pair and the fourth rotating pair to rotate; the posture adjusting assembly comprises an arc-shaped plate, a driving rod, a driven rod and an upper arc-shaped plate element, and the upper arc-shaped plate element comprises an arc-shaped sliding rail, an arc-shaped sliding block, a limiting device and a driving box; the arc slide rail is fixedly arranged on the arc plate, the arc slide block is arranged on the arc slide rail in a sliding manner, the limiting devices are arranged at two ends of the arc slide rail and used for limiting the sliding range of the arc slide block, the fourth revolute pair is perpendicular to the third revolute pair, and the axis of the arc slide rail and the axis of the fourth revolute pair intersect at one point in space, namely a telecentric fixed point; one end of the driving rod is connected to the arc-shaped plate through a fifth revolute pair, the axis of the fifth revolute pair is perpendicular to the axis of the fourth revolute pair, the other end of the driving rod is connected with one end of the driven rod through a sixth revolute pair, the other end of the driven rod is connected with the arc-shaped sliding block upper connecting plate through a seventh revolute pair, the axes of the sixth revolute pair and the seventh revolute pair are parallel to the axis of the fifth revolute pair, a driving mechanism is arranged in the driving box and used for driving the fifth revolute pair to rotate, and the arc-shaped sliding block is driven to slide on the arc-shaped sliding rail through the driving rod, the driven rod, the sixth revolute pair and the seventh revolute pair; the connecting plate is arranged on the arc sliding block, a linear sliding table which slides along the diameter direction of the arc sliding rail is arranged on the connecting plate, a rotating motor is arranged on the linear sliding table, the surgical instrument is arranged on the linear sliding table along the diameter direction of the arc sliding rail, the upper end of the surgical instrument is connected to the rotating motor, the linear sliding table drives the surgical instrument to linearly slide along the diameter direction of the arc sliding rail, and the rotating motor is used for driving the surgical instrument to rotate; the straight line of the motion track of the surgical instrument on the straight line sliding table, the self-rotating axis of the surgical instrument, the axis of the fourth revolute pair and the central axis of the arc sliding rail are intersected at a telecentric motionless point; the arc-shaped plate, the fifth rotating pair, the driving rod, the sixth rotating pair, the driven rod, the seventh rotating pair, the arc sliding block and the connecting plate form a closed-loop four-bar linkage structure with a telecentric motionless point, and the axis of the fourth rotating pair and the axis of the autorotation of the surgical instrument are positioned on a motion plane of the closed-loop four-bar linkage structure; the position adjusting assembly adjusts the position of the telecentric motionless point through the first rotating pair, the second rotating pair, the third rotating pair and the linear moving pair, and the posture adjusting assembly is used for enabling a surgical instrument to adjust the posture around the telecentric motionless point.
The eight-degree-of-freedom surgical manipulator with the closed-loop connecting rod has the beneficial effects that: the mechanical arm uses the four-degree-of-freedom position adjusting component to adjust the position of a telecentric fixed point, the redundant degree of freedom can well avoid singular positions, and the working space is enlarged; the posture adjusting system can adjust the posture of the surgical instrument in multiple directions around a remote center fixed point, drives the surgical instrument to realize telecentric motion required by minimally invasive surgery, and has simple and flexible structure and small occupied space; the system comprises a closed loop connecting rod module, effectively forwards a driving set required by the joint, has a compact structure, stable movement, posture decoupling and convenient and flexible driving, and can be suitable for various operation environments.
Drawings
Fig. 1 is a schematic view of the overall structure of an eight-degree-of-freedom surgical manipulator with a closed-loop connecting rod according to the present invention.
Fig. 2 is a schematic structural view of a preferred embodiment of the driving assembly of the present invention.
FIG. 3 is a partial structural diagram of a closed-loop module according to the present invention.
In the above figures: 1-a base, 2-a linear slide rail assembly, 3-an articulated arm, 31-a first connecting arm, 32-a second connecting arm, 33-a third connecting arm, 34-a fourth connecting arm, 35-an encoder, 36-a driving motor, 37-a speed reducer, 38-a brake, 4-an arc plate, 41-a driving rod, 42-a driven rod, 43-a driving box, 44-a limiting device, 45-an arc slide rail, 46-an arc slide block, 5-a connecting plate, 51-a rotating motor, 52-a linear sliding table, 6-a surgical instrument, 71-a first rotating pair, 72-a second rotating pair, 73-a third rotating pair, 74-a fourth rotating pair, 75-a fifth rotating pair, 76-a sixth rotating pair and 77-a seventh rotating pair, 91-fourth revolute pair axis, 92-surgical machine self-rotation axis, O-telecentric motionless point.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 and 3, an eight-degree-of-freedom surgical robot arm with a closed-loop connecting rod comprises a position adjusting assembly, a posture adjusting assembly and a surgical instrument 6; the surgical instrument 6 includes, but is not limited to, a scalpel; the posture adjustment assembly comprises a base 1, a linear sliding rail assembly 2 and a joint arm 3, wherein the linear sliding rail assembly 2 is arranged on the base 1, and the posture adjustment assembly comprises an arc-shaped plate 4, a driving rod 41, a driven rod 42 and an upper element of the arc-shaped plate.
The articulated arm comprises a first connecting arm 31, a second connecting arm 32, a third connecting arm 33 and a fourth connecting arm 34, the lower end of the first connecting arm 31 is connected with the linear slide rail assembly 2 through a linear moving pair, the upper end of the first connecting arm 31 is connected with one end of the second connecting arm 32 through a first revolute pair 71, the axial direction of the first revolute pair 71 is consistent with that of the linear moving pair, the other end of the second connecting arm 72 is connected with one end of the third connecting arm 33 through a second revolute pair 72, the other end of the third connecting arm 33 is connected with one end of the fourth connecting arm 34 through a third revolute pair 73, the other end of the fourth connecting arm 34 is connected with the arc-shaped plate 4 through the fourth revolute pair 74, the second revolute pair 72 and the third revolute pair 73 are parallel to the rotary axis of the first revolute pair 71, and the first connecting arm 31, The second connecting arm 32, the third connecting arm 33 and the fourth connecting arm 34 are hollow structures, and driving mechanisms are arranged in the hollow structures and are respectively used for driving the first rotating pair 71, the second rotating pair 72, the third rotating pair 73 and the fourth rotating pair 74 to rotate.
As shown in fig. 2, preferably, the driving mechanism includes an encoder 35, a brake 36, a driving motor 37 and a speed reducer 38, the encoder 35 is coaxially connected to the driving motor 37, an output shaft of the driving motor 37 is coaxially connected to an input shaft of the speed reducer 38 through an output flange, an output shaft of the speed reducer 38 is connected to the joint arm through an output flange, and the brake 36 is used for locking when power is off, so that the joint arm maintains a stable state. In addition to the above preferred embodiments, the driving mechanism may also adopt other driving schemes to drive the first revolute pair 71, the second revolute pair 72, the third revolute pair 73 and the fourth revolute pair 74 to revolve.
As shown in fig. 1 and 3, the arc-shaped plate 4 is provided with an arc slide rail 45, an arc slide block 46, a limiting device 47 and a driving box 43; the arc slide rail 45 is fixedly arranged on the arc plate 4, the arc slide block 46 is arranged on the arc slide rail 45 in a sliding manner, the limiting devices 47 are arranged at two ends of the arc slide rail 45 and used for limiting the sliding range of the arc slide block 46, the fourth rotating pair 74 is perpendicular to the third rotating pair 73, and the central axis of the arc slide rail 45 and the axis of the fourth rotating pair 74 intersect at one point in space, namely a telecentric motionless point O; one end of the driving rod 41 is connected to the arc-shaped plate 4 through a fifth revolute pair 75, the fifth revolute pair 75 is perpendicular to the axis of the fourth revolute pair 74, the other end of the driving rod 41 is connected to one end of the driven rod 42 through a sixth revolute pair 76, the other end of the driven rod 42 is connected to the upper connecting plate 5 of the arc-shaped sliding block 46 through a seventh revolute pair 77, the axes of the sixth revolute pair 76 and the seventh revolute pair 77 are parallel to the axis of the fifth revolute pair 75, and a driving mechanism is arranged in the driving box 43 and used for driving the fifth revolute pair 75 to rotate, and further drives the arc-shaped sliding block 46 to slide on the arc-shaped sliding rail 45 through the driving rod 41, the driven rod 42, the sixth revolute pair 76 and the seventh revolute pair 77.
The arc slide block 45 is provided with the connecting plate 5, the connecting plate 5 is provided with a linear sliding table 52 which slides along the diameter direction of the arc slide rail 45, the linear sliding table 52 is provided with a rotating motor 51, the surgical instrument 6 is arranged on the linear sliding table 52 along the diameter direction of the arc slide rail 45, the upper end of the surgical instrument 6 is connected to the rotating motor 51, the linear sliding table 6 is used for driving the surgical instrument 6 to linearly slide on the linear sliding table 6 along the radial direction of the arc slide rail 45, and the rotating motor is used for driving the surgical instrument 6 to rotate; the line of the motion track of the surgical instrument 6 on the linear sliding table 52, the axis of the rotation of the surgical instrument, the rotation axis of the fourth revolute pair 74 and the central axis of the arc sliding rail intersect at a telecentric motionless point O;
the arc-shaped plate 4, the fifth revolute pair 75, the driving rod 41, the sixth revolute pair 76, the driven rod 42, the seventh revolute pair 77, the arc slider 46 and the connecting plate 5 of the posture adjusting assembly form a closed-loop four-bar linkage structure with a telecentric motionless point, and an axis 91 of the fourth revolute pair and an axis 92 of the self-rotation of the surgical instrument are positioned on a motion plane of the closed-loop four-bar linkage structure; the position adjusting assembly adjusts the position of the telecentric motionless point O through the first rotating pair 71, the second rotating pair 72, the third rotating pair 73 and the linear sliding pair of the linear sliding rail assembly, and the posture adjusting assembly is used for enabling a surgical instrument to adjust the posture around the telecentric motionless point O.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (1)
1. An eight-degree-of-freedom surgical mechanical arm with a closed-loop connecting rod is characterized in that: comprises a position adjusting component, a posture adjusting component and a surgical instrument; the position adjusting assembly comprises a base, a linear sliding rail assembly, a first connecting arm, a second connecting arm, a third connecting arm and a fourth connecting arm; the linear slide rail component is arranged on the base, the lower end of the first connecting arm is connected with the linear slide rail component through a linear sliding pair, the upper end of the first connecting arm is connected with one end of the second connecting arm through a first rotating pair, the axial direction of the first rotating pair is consistent with the direction of the linear moving pair, the other end of the second connecting arm is connected with one end of the third connecting arm through a second revolute pair, the other end of the third connecting arm is connected with one end of the fourth connecting arm through a third revolute pair, the other end of the fourth connecting arm is connected with the arc-shaped plate through a fourth rotating pair, the second rotating pair and the third rotating pair are parallel to the axis of the first rotating pair, the first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are of hollow structures, driving mechanisms are arranged in the first rotating pair, the second rotating pair, the third rotating pair and the fourth rotating pair respectively and are used for driving the first rotating pair, the second rotating pair, the third rotating pair and the fourth rotating pair to rotate; the posture adjusting assembly comprises an arc-shaped plate, a driving rod, a driven rod and an upper element of the arc-shaped plate; the upper element of the arc-shaped plate comprises an arc-shaped sliding rail, an arc-shaped sliding block, a limiting device and a driving box; the arc slide rail is fixedly arranged on the arc plate, the arc slide block is arranged on the arc slide rail in a sliding manner, and the limiting devices are arranged at two ends of the arc slide rail and used for limiting the sliding range of the arc slide block; the fourth revolute pair is perpendicular to the third revolute pair, and the central axis of the arc sliding rail and the axis of the fourth revolute pair are intersected at one point in space, namely a telecentric motionless point; one end of the driving rod is connected to the arc-shaped plate through a fifth revolute pair, the axis of the fifth revolute pair is perpendicular to the axis of the fourth revolute pair, the other end of the driving rod is connected with one end of the driven rod through a sixth revolute pair, the other end of the driven rod is connected with the arc-shaped sliding block upper connecting plate through a seventh revolute pair, the axes of the sixth revolute pair and the seventh revolute pair are parallel to the axis of the fifth revolute pair, a driving mechanism is arranged in the driving box and used for driving the fifth revolute pair to rotate, and the arc-shaped sliding block is driven to slide on the arc-shaped sliding rail through the driving rod, the driven rod, the sixth revolute pair and the seventh revolute pair; the connecting plate is arranged on the arc sliding block, a linear sliding table which slides along the diameter direction of the arc sliding rail is arranged on the connecting plate, a rotating motor is arranged on the linear sliding table, the surgical instrument is arranged on the linear sliding table along the diameter direction of the arc sliding rail, the upper end of the surgical instrument is connected to the rotating motor, the linear sliding table is used for driving the surgical instrument to linearly slide along the diameter direction of the arc sliding rail, and the rotating motor is used for driving the surgical instrument to rotate; the straight line of the motion track of the surgical instrument on the straight line sliding table, the self-rotating axis of the surgical instrument, the axis of the fourth revolute pair and the central axis of the arc sliding rail are intersected at a telecentric motionless point; the arc-shaped plate, the fifth rotating pair, the driving rod, the sixth rotating pair, the driven rod, the seventh rotating pair, the arc sliding block and the connecting plate form a closed-loop four-bar linkage structure with a telecentric motionless point, and the axis of the fourth rotating pair and the axis of the autorotation of the surgical instrument are positioned on a motion plane of the closed-loop four-bar linkage structure; the position adjusting assembly adjusts the position of the telecentric motionless point through the first rotating pair, the second rotating pair, the third rotating pair and the linear moving pair, and the posture adjusting assembly is used for enabling a surgical instrument to adjust the posture around the telecentric motionless point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910891985.4A CN110680505B (en) | 2019-09-20 | 2019-09-20 | Eight-degree-of-freedom surgical mechanical arm with closed-loop connecting rod |
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| CN201910891985.4A CN110680505B (en) | 2019-09-20 | 2019-09-20 | Eight-degree-of-freedom surgical mechanical arm with closed-loop connecting rod |
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| CN110680505B CN110680505B (en) | 2024-05-17 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111991086A (en) * | 2020-08-20 | 2020-11-27 | 河北工业大学 | Medical minimally invasive surgery robot and control method |
| CN112932673A (en) * | 2021-02-03 | 2021-06-11 | 山东省千佛山医院 | Mechanical arm layout structure of minimally invasive surgical robot |
| CN113100951A (en) * | 2021-04-08 | 2021-07-13 | 天津大学 | Brand-new dental implantation robot structure |
| CN114010322A (en) * | 2021-11-16 | 2022-02-08 | 江苏省肿瘤医院 | Head and neck tumour operation robot |
| CN114098978A (en) * | 2021-11-12 | 2022-03-01 | 艺柏湾医疗科技(上海)有限公司 | Robot mechanical arm for minimally invasive surgery |
| CN114159106A (en) * | 2020-09-11 | 2022-03-11 | 苏州威森特医疗机器人有限公司 | Steel belt transmission-based telecentric fixed point structure for minimally invasive surgery |
| CN114886572A (en) * | 2022-07-13 | 2022-08-12 | 杭州迪视医疗生物科技有限公司 | Main hand rocker in ophthalmic surgery |
| WO2022247481A1 (en) * | 2021-05-25 | 2022-12-01 | 敏捷医疗科技(苏州)有限公司 | Mechanical arm and control method therefor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114886572A (en) * | 2022-07-13 | 2022-08-12 | 杭州迪视医疗生物科技有限公司 | Main hand rocker in ophthalmic surgery |
| CN114886572B (en) * | 2022-07-13 | 2022-11-08 | 杭州迪视医疗生物科技有限公司 | Main hand rocker in ophthalmic surgery |
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