CN111870287B

CN111870287B - Extensible 2R1T remote movement center mechanism

Info

Publication number: CN111870287B
Application number: CN202010746994.7A
Authority: CN
Inventors: 杨毅; 刘虎; 杨扬; 邵文韫; 钟宋义; 彭艳; 罗均; 蒲华燕; 谢少荣
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2023-07-14
Anticipated expiration: 2040-07-29
Also published as: CN111870287A

Abstract

The invention discloses a foldable 2R1T remote movement center mechanism, which mainly comprises 2 scissor unit branched chains, a static platform, a movable platform, 3 driving steering engines and an end device, wherein the end device in the mechanism can pass through an intersection point O of the movable platform and the static platform to realize 2R1T movement. The invention adopts the extendable and retractable scissor type unit structure, has small storage space, compact structure, convenient driving, small motion inertia and high precision, realizes the movement of the end effector without adopting an additional driver, and can be applied to the fields of minimally invasive surgery auxiliary robots and the like.

Description

Extensible 2R1T remote movement center mechanism

Technical Field

The invention relates to the technical field of remote movement centers, in particular to a foldable remote movement center mechanism which can rotate in two dimensions around a remote movement center point and move along an axis passing through the center point.

Background

If the output member of the mechanism can rotate about and move along an axis passing through a fixed point in space and no actual revolute pair exists at that fixed point, the mechanism is referred to as a remote center of motion mechanism. The remote movement center mechanism is widely applied to the field of minimally invasive surgery, and the mechanism can realize that a surgical instrument arranged at the tail end rotates around a micro-wound and moves along the axial direction of the instrument, so that surgical operation is performed, and meanwhile, the tissue around the micro-wound is prevented from being extruded.

The existing remote movement center mechanism mainly has two defects: one is that many mechanisms require additional drives at the ends to achieve remote center of motion functionality, complicating the structure and increasing the motion inertia. Secondly, the mechanism space consumption is big, has restricted the practicality.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a foldable 2R1T remote movement center mechanism.

The invention can be solved by the following technical scheme:

the extensible 2R1T remote movement center mechanism comprises 2 shear type unit branched chains, a static platform, a movable platform, a driving part and an end device, wherein one end of each 2 shear type unit branched chains is connected with the static platform, the other end of each 2 shear type unit branched chain is connected with the movable platform, the end device is connected with the tail end of the movable platform, the driving part is fixed on the static platform, and the 2 shear type unit branched chains are controlled in a connecting manner, so that the extension and the contraction of the shear type unit branched chains are realized; the lengths of the 2 shear type unit branched chains are different, so that the movable platform can be inclined at a certain angle; the intersection point O of the movable platform and the static platform is a remote movement center point, and under the control of the driving component, the end effector can rotate around a X, Z shaft through the O point and translate along the axial direction of the end effector, namely 2R1T movement, so that the remote movement center function is realized.

Further, each scissor unit branched chain is formed by hinging a plurality of identical long connecting rods and identical short connecting rods through hinging shafts, and the two scissor unit branched chains are connected together through an intermediate connecting rod.

Further, the two long connecting rods are in X-shaped cross connection through the hinge shaft, only one rotation degree of freedom exists, the plurality of X-shaped cross connected long connecting rods are hinged to each other in a head-tail mode, the tail ends of the two long connecting rods are hinged to the two short connecting rods, and finally the scissor-type unit branched chain is formed.

Further, the movable platform is composed of a guide rail and a sliding block, the tail end of the movable platform is connected with the end device, the guide rail is hinged with one of the shear type unit branched chains, and the sliding block is hinged with the other shear type unit branched chain, so that the movable platform can realize rotation and translation.

Further: the driving part comprises 3 driving steering engines, wherein 2 driving steering engines are symmetrically fixed on a static platform, the remote movement center mechanism is controlled to rotate around a Z axis and move along the axis direction of the end effector, the last driving steering engine is installed and fixed on a bottom plate on a base and connected with the static platform through an axis, and the remote movement center mechanism is controlled to rotate around an X axis.

Further, the 2 shear unit branched chain length differences can be realized by adjusting the number of units according to actual needs.

Further, the end effector is a surgical instrument or sensor.

Advantageous effects

The end device can move around the intersection point O of the movable platform and the static platform to realize 2R1T movement, adopts a foldable shear type unit structure, has small storage space, compact structure and convenient driving, realizes movement of the end device under the condition of not adopting an additional driver, and has small movement inertia and good precision.

Drawings

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

FIG. 2 is a schematic diagram of a scissor unit branch in accordance with the present invention;

FIG. 3 is a schematic view of the folded state structure of the present invention;

FIG. 4 is a schematic view of the fully extended state structure of the present invention.

In the figure: 1 a scissor unit branched chain; 2 scissors type unit branched chain; 3, an intermediate connecting rod; 4, a guide rail; 5, sliding blocks; 6, an end device; 7, driving a steering engine; 8, a static platform; 9, a base; 10, driving a steering engine; 11 shafts; a 12-bottom plate; 13 short connecting rods; 14 long connecting rods; 15 hinge shaft.

Detailed Description

Other advantages and effects of the present invention will become readily apparent to those skilled in the art from the following disclosure, when considered in light of the following detailed description of the invention.

As shown in figure 1, the invention comprises 2 shear type unit branched chains (branched chains 1 and 2), a static platform 8, a movable platform, a driving component (driving steering engines 7 and 10) and an end device 6, wherein one end of the 2 shear type unit branched chains is connected with the static platform 6, the other end of the 2 shear type unit branched chains is connected with the movable platform, the end device 6 is connected with the tail end of the movable platform, the driving component is fixed on the static platform 8, and the 2 shear type unit branched chains are connected and controlled to realize the extension and contraction of the shear type unit branched chains. The lengths of the 2 shear type unit branched chains are different, so that the movable platform can be inclined at a certain angle, and the characteristic of a remote movement center is realized. Each scissor unit branched chain is formed by hinging a plurality of identical long connecting rods 14 and identical short connecting rods 13 through hinging shafts 15. The 2 shear type unit branched chains are connected together through the middle connecting rod 3, and the width, the thickness and the length of the three middle connecting rods 3 are equal and are parallel to each other. The intersection point O of the movable platform and the static platform 8 is a remote movement center point, and the end effector 6 can rotate around a X, Z shaft through the O point and translate along the axial direction of the end effector 6, namely 2R1T movement, so that the remote movement center function is realized.

The movable platform is composed of a guide rail 4 and a sliding block 5, and the tail end of the movable platform is connected with a tail end connector 6. The guide rail 4 is hinged with the scissor unit branched chain 1, and the sliding block 5 is hinged with the scissor unit branched chain 2, so that the movable platform can realize rotation and translation. The terminator 6 may be selected from surgical instruments, sensors, etc. as desired.

The driving part comprises a driving steering engine 7 and a driving steering engine 10. The driving steering engine 7 is symmetrically fixed on the static platform 8, one of the two bottom connecting rods of the scissor unit

branched chains

1 and 2, which is adjacent to the steering engine, is fixed on the steering wheel, and the other is hinged with the steering engine shaft. The driving steering engine 7 can control the mechanism to realize rotation around the Z axis and movement along the axial direction of the end effector. The driving steering engine 10 is arranged on a bottom plate 12 fixed on the base 9, is connected with the static platform 8 through a shaft 11, and realizes rotation around an X axis by a control mechanism.

As shown in fig. 2, the two long links 14 are connected in an X-shaped cross through the hinge shaft 15 with only one degree of rotational freedom. The long connecting rods connected in an X-shaped cross way are mutually hinged in a head-tail mode, the tail ends of the two sides of the long connecting rods are hinged with the two short connecting rods 13, and finally the scissor-type unit branched chain is formed.

The invention is shown in the folded state in fig. 3, and in the fully unfolded state in fig. 4, the invention has the advantages of small storage space, large working space, improved space utilization and strong practicability.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims

1. The utility model provides a can receive 2R1T remote center of motion mechanism which characterized in that: the device comprises 2 shear type unit branched chains, a static platform (8), a movable platform, a driving part and an end device (6), wherein one end of each 2 shear type unit branched chains is connected with the static platform (8), the other end of each 2 shear type unit branched chains is connected with the movable platform, the end device is connected with the tail end of the movable platform, the driving part is fixed on the static platform, and the 2 shear type unit branched chains are connected and controlled to realize the expansion and contraction of the shear type unit branched chains; the lengths of the 2 shear type unit branched chains are different, so that the movable platform can be inclined at a certain angle; the intersection point O of the movable platform and the static platform (8) is a remote movement center point, and under the control of the driving component, the end effector (6) can rotate around a X, Z shaft through the O point and translate along the axial direction of the end effector (6), namely, 2R1T movement is realized, so that the remote movement center function is realized; each shear type unit branched chain is formed by hinging a plurality of identical long connecting rods (14) and identical short connecting rods (13) through hinging shafts (15), and the two shear type unit branched chains are connected together through middle connecting rods; the two long connecting rods (14) are in X-shaped cross connection through a hinge shaft (15), only one rotation degree of freedom exists, the plurality of X-shaped cross connected long connecting rods (14) are hinged to each other in a head-to-tail mode, the tail ends of the two long connecting rods are hinged to the two short connecting rods (13), and finally a shear unit branched chain is formed; the movable platform consists of a guide rail (4) and a sliding block (5), the tail end of the movable platform is connected with a terminal device (6), the guide rail (4) is hinged with one of the shear type unit branched chains (1), and the sliding block (5) is hinged with the other shear type unit branched chain (2), so that the movable platform can rotate and translate.

2. The retractable 2R1T remote center of motion mechanism of claim 1, wherein: the driving part comprises 3 driving steering gears, wherein 2 driving steering gears (7) are symmetrically fixed on a static platform (8), the end effector (6) is controlled to rotate around a Z axis and move along the axis direction of the end effector, the last driving steering gear (10) is installed and fixed on a bottom plate (12) on a base (9), the last driving steering gear is connected with the static platform (8) through a shaft (11), and the end effector (6) is controlled to rotate around an X axis.

3. The extendable and retractable 2R1T remote center of motion mechanism of claim 1 or 2, wherein: the length difference of the 2 shear unit branched chains can be realized by adjusting the number of units according to actual needs.

4. The extendable and retractable 2R1T remote center of motion mechanism of claim 3, wherein: the end device is a surgical instrument or a sensor.