CN112545656A - Terminal drive structure of compact endoscope operation robot - Google Patents
Terminal drive structure of compact endoscope operation robot Download PDFInfo
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- CN112545656A CN112545656A CN202011518553.8A CN202011518553A CN112545656A CN 112545656 A CN112545656 A CN 112545656A CN 202011518553 A CN202011518553 A CN 202011518553A CN 112545656 A CN112545656 A CN 112545656A
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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
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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Abstract
The invention relates to a compact type end driving structure of an endoscopic surgery robot, which comprises a surgery end driving mechanism, wherein the surgery end driving mechanism is arranged on a driving mechanism base, the driving mechanism base is arranged at the end of a mechanical arm, the mechanical arm is arranged above a bed plate, the surgery end driving mechanism is connected with a surgical instrument, a slender rod of the surgical instrument passes through a middle channel of the surgery end driving mechanism, the surgery end driving mechanism comprises a linear motion mechanism and a rotary motion mechanism, and the slender rod of the surgical instrument is driven by the linear motion mechanism and the rotary motion mechanism to do linear motion and rotary motion; the mechanical arm is connected to a movable frame, the movable frame is arranged above the bed board in a spanning mode, translation guide rails are arranged on the left side and the right side of the bed board, and the movable frame moves horizontally along the translation guide rails; the invention can greatly reduce the structural space of the tail end of the mechanical arm operation, reduce the possibility of mutual interference of the tail ends of the mechanical arms and provide more possible operation space for clinicians.
Description
[ technical field ]
The invention relates to the technical field of medical instruments, in particular to a compact type end driving structure of an endoscopic surgery robot.
[ background art ]
At present, the existing endoscope minimally invasive robot system has a linear driving structure, the structure generally comprises an actuating mechanism longer than a movement stroke, for example, a guide rail and a corresponding screw rod or a belt, so that the length of the actuating mechanism is generally larger than the movement stroke of the tail end, the structure needs to occupy more space, and in the multi-arm matching use process, the condition that the driving structures of the tail ends mutually generate movement interference often occurs, so that the operation space of a mechanical arm is limited, the requirements of various movement postures in the complex operation process are not facilitated, and the normal operation speed and the auxiliary operation effect of the auxiliary operation of a doctor are often influenced. Therefore, it is clinically significant to provide a tip driving structure of an endoscopic surgical robot in a compact space.
[ summary of the invention ]
The invention aims to solve the defects and provide a compact end driving structure of an endoscopic surgery robot, which can greatly reduce the occupied space compared with the existing product, is convenient for doctors to have more available space for operation and reduces the possibility of mutual interference of the tail ends of mechanical arms.
Design a terminal drive structure of compact endoscope operation robot for realizing above-mentioned purpose, including the terminal actuating mechanism 1 of operation, the terminal actuating mechanism 1 of operation is installed on actuating mechanism base 2, actuating mechanism base 2 is installed at 3 ends of arm, 4 tops on the bed board are located to arm 3, surgical instruments 5 is connected to the terminal actuating mechanism 1 of operation, and surgical instruments 5's slender rod 6 is through the middle part passageway of the terminal actuating mechanism 1 of operation, the terminal actuating mechanism 1 of operation includes linear motion mechanism and rotary motion mechanism, linear motion, rotary motion are made under linear motion mechanism, rotary motion mechanism's drive to surgical instruments 5 slender rod 6.
Further, the linear motion mechanism comprises a first rotating motor 7 and a second rotating motor 8 which are arranged in bilateral symmetry, output ends of the first rotating motor 7 and the second rotating motor 8 are respectively provided with a first driving wheel 9 and a second driving wheel 10, the first driving wheel 9 is meshed with a first driven wheel 12 through a first double-tooth-surface conveyor belt 11, the second driving wheel 10 is meshed with a second driven wheel 14 through a second double-tooth-surface conveyor belt 13, peripheries of the first double-tooth-surface conveyor belt 11 and the second double-tooth-surface conveyor belt 13 are respectively meshed with a first single-tooth-surface conveyor belt 15 and a second single-tooth-surface conveyor belt 16, and the slender rod 6 of the surgical instrument 5 is clamped between the first single-tooth-surface conveyor belt 15 and the second single-tooth-surface conveyor belt 16 and is driven by the first single-tooth-surface conveyor belt 15 and the second single-tooth-surface.
Further, the outer sides of the single-tooth-surface conveyor belt I15 and the single-tooth-surface conveyor belt II 16 are respectively provided with an arc-shaped groove 17, and the arc-shaped grooves 17 are tightly attached to the slender rod 6 of the surgical instrument 5.
Further, the rotary motion mechanism comprises a disc type motor stator 18 and a disc type motor mover 19, the disc type motor stator 18 is fixedly connected to the driving mechanism base 2, the disc type motor mover 19 rotates relative to the disc type motor stator 18, and the driving shaft sleeve 20 and the disc type bearing 21 drive the bearing seat 22 and the rotary motor I7 and the rotary motor II 8 which are installed on the bearing seat 22 to rotate.
Further, the mechanical arm 3 is connected to a movable frame 23, the movable frame 23 is arranged above the bed plate 4 in a spanning mode, translation guide rails 24 are installed on the left side and the right side of the bed plate 4, and the movable frame 23 moves horizontally along the translation guide rails 24.
Further, the mechanical arm 3 comprises a first mechanical arm connecting rod 25, a second mechanical arm connecting rod 26, a third mechanical arm connecting rod 27 and a fourth mechanical arm connecting rod 28 which are sequentially hinged, the driving mechanism base 2 is fixedly connected to a first mechanical arm end connecting rod 29, the first mechanical arm end connecting rod 29 is connected with the first mechanical arm connecting rod 25, and the fourth mechanical arm connecting rod 28 is installed on a mechanical arm base 30 and is connected to the movable frame 23 through the mechanical arm base 30.
Further, the tail end of the surgical instrument 5 is connected with a flexible cable 31, the flexible cable 31 includes a power cable and a signal cable of the surgical instrument, and the other end of the flexible cable 31 is connected to the first mechanical arm link 25.
Compared with the prior art, the invention can realize the functions of front-back feeding and screwing with larger stroke of the operation tail end, and the structure integrates the two functions into an integrated design, so that the structural space of the operation tail end of the mechanical arm can be greatly reduced, thereby realizing the more complex multi-arm linkage function, reducing the possibility of mutual interference of different mechanical arm tail ends and providing more possible operation space for clinicians. In conclusion, compared with the existing product, the occupied space of the structure can be greatly reduced, so that the structure is convenient for doctors to have more available space for operation, and is worthy of popularization and application.
[ description of the drawings ]
FIG. 1 is a schematic structural view of the present invention; laparoscopic surgical robotic system
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic view of the linear drive mechanism of the present invention;
FIG. 4 is a cross-sectional view A-A of FIG. 3;
FIG. 5 is a schematic view of the rotary drive mechanism of the present invention;
in the figure: 1. the device comprises a surgical tail end driving mechanism 2, a driving mechanism base 3, a mechanical arm 4, a bed plate 5, a surgical instrument 6, a slender rod 7, a first rotating motor 8, a second rotating motor 9, a first driving wheel 10, a second driving wheel 11, a first double-tooth-surface conveyor belt 12, a first driven wheel 13, a second double-tooth-surface conveyor belt 14, a second driven wheel 15, a first single-tooth-surface conveyor belt 16, a second single-tooth-surface conveyor belt 17, an arc-shaped groove 18, a disc type motor stator 19, a disc type motor rotor 20, a transmission shaft sleeve 21, a disc type bearing 22, a bearing seat 23, a movable frame 24, a translation guide rail 25, a first mechanical arm connecting rod 26, a second mechanical arm connecting rod 27, a third mechanical arm connecting rod 28, a fourth mechanical arm connecting rod 29, a mechanical arm tail end, The motor is provided with a base 35 and a follower bearing.
[ detailed description of the invention ]
The invention is further described below with reference to the accompanying drawings:
the invention provides a compact type end driving structure of an endoscopic surgery robot, which comprises a surgery end driving mechanism 1, wherein the surgery end driving mechanism 1 is arranged on a driving mechanism base 2, the driving mechanism base 2 is arranged at the tail end of a mechanical arm 3, the mechanical arm 3 is arranged above a bed plate 4, the surgery end driving mechanism 1 is connected with a surgical instrument 5, an elongated rod 6 of the surgical instrument 5 passes through a middle channel of the surgery end driving mechanism 1, the surgery end driving mechanism 1 comprises a linear motion mechanism and a rotary motion mechanism, and the elongated rod 6 of the surgical instrument 5 is driven by the linear motion mechanism and the rotary motion mechanism to do linear motion and rotary motion.
As shown in fig. 3 and 4, the linear motion mechanism includes a first rotating motor 7 and a second rotating motor 8 which are arranged in bilateral symmetry, output ends of the first rotating motor 7 and the second rotating motor 8 are respectively provided with a first driving wheel 9 and a second driving wheel 10, the first driving wheel 9 is meshed with a first driven wheel 12 through a first double-tooth-surface conveyor belt 11, the second driving wheel 10 is meshed with a second driven wheel 14 through a second double-tooth-surface conveyor belt 13, peripheries of the first double-tooth-surface conveyor belt 11 and the second double-tooth-surface conveyor belt 13 are respectively meshed with a first single-tooth-surface conveyor belt 15 and a second single-tooth-surface conveyor belt 16, and the slender rod 6 of the surgical instrument 5 is clamped between the first single-tooth-surface conveyor belt 15 and the second single-tooth-surface conveyor belt 16 and is driven by the first single-tooth-surface conveyor; the outer sides of the first single-tooth-surface conveyor belt 15 and the second single-tooth-surface conveyor belt 16 are respectively provided with an arc-shaped groove 17, and the arc-shaped grooves 17 are tightly attached to the slender rod 6 of the surgical instrument 5.
As shown in fig. 5, the rotary motion mechanism includes a disc motor stator 18 and a disc motor mover 19, the disc motor stator 18 is fixedly connected to the driving mechanism base 2, and the disc motor mover 19 rotates relative to the disc motor stator 18 and drives the bearing seat 22 and the first rotary motor 7 and the second rotary motor 8 mounted on the bearing seat 22 to rotate through the driving sleeve 20 and the disc bearing 21.
Wherein, the arm 3 can be provided with a plurality ofly, and the arm 3 is connected on portable frame 23, and portable frame 23 strides and locates 4 tops of bed board, and translation guide rail 24 is installed to the bed board 4 left and right sides, and portable frame 23 makes horizontal migration along translation guide rail 24. Each mechanical arm 3 comprises a first mechanical arm connecting rod 25, a second mechanical arm connecting rod 26, a third mechanical arm connecting rod 27 and a fourth mechanical arm connecting rod 28 which are sequentially hinged, the driving mechanism base 2 is fixedly connected to a first mechanical arm end connecting rod 29, the first mechanical arm end connecting rod 29 is connected with the first mechanical arm connecting rod 25, and the fourth mechanical arm connecting rod 28 is installed on a mechanical arm base 30 and is connected to the movable frame 23 through the mechanical arm base 30. The tail end of the surgical instrument 5 is connected with a flexible cable 31, the flexible cable 31 comprises a power cable and a signal cable of the surgical instrument, and the other end of the flexible cable 31 is connected to the first mechanical arm connecting rod 25.
The invention can realize the functions of front-back feeding and screwing of a larger stroke of the operation tail end, can greatly reduce the structural space of the mechanical arm operation tail end by integrating the two functions into an integrated design, can realize a more complex multi-arm linkage function, reduces the possibility of mutual interference of different mechanical arm tail ends, and also provides more possible operation space for clinicians.
In the invention, the laparoscopic surgery robot system mainly comprises a bed body, a bed board, a movable frame, a translation guide rail, a mechanical arm and the like. The driving mechanisms of the surgical instruments are respectively arranged at the tail ends of the mechanical arms and are used for driving the surgical instruments to do linear motion and rotary motion. The connecting rod at the tail end of the mechanical arm, the first mechanical arm connecting rod and the fourth mechanical arm connecting rod have 5 degrees of freedom, and the linear motion and the rotary motion of the surgical instrument are realized by the driving mechanism. The flexible cable contains the power cable and the signal cable of surgical instrument, and one end is connected at surgical instrument end, and the other end is connected on mechanical arm connecting rod one. The driving mechanism base is fixedly connected to the connecting rod at the tail end of the mechanical arm, and the driving mechanism base and the mechanical arm do not move relatively. The slender rod of the surgical instrument can realize linear motion and rotary motion through the middle channel of the driving mechanism.
The linear motion realization principle of the invention is as follows: the first driving wheel and the second driving wheel rotate in the same rotating speed and opposite directions, the first outer ring single-tooth-surface conveyor belt and the second outer ring single-tooth-surface conveyor belt are driven to move through the first double-tooth-surface conveyor belt and the second double-tooth-surface conveyor belt, the slender rod of the surgical instrument is clamped by the first single-tooth-surface conveyor belt and the second single-tooth-surface conveyor belt, and the linear motion of the surgical instrument is realized by means of friction force. Wherein, the inner side of the single-tooth-surface conveyor belt is meshed with the outer side of the double-tooth-surface conveyor belt through teeth, and the outer side of the single-tooth-surface conveyor belt is provided with an arc-shaped groove which is tightly attached to the slender rod of the surgical instrument; the inner side of the double-tooth-surface conveyor belt is meshed with the driving wheel.
The principle of the invention for realizing the rotary motion is as follows: the disc type motor stator is fixedly connected to the driving mechanism base, and the disc type motor rotor rotates relative to the stator and drives the bearing seat and all parts mounted on the bearing seat to rotate through the transmission shaft sleeve and the disc type bearing.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (7)
1. A compact end driving structure of an endoscopic surgery robot is characterized in that: including the terminal actuating mechanism (1) of operation, install on actuating mechanism base (2) the terminal actuating mechanism (1) of operation, actuating mechanism base (2) are installed at arm (3) end, bed board (4) top is located in arm (3), surgical instruments (5) are connected in terminal actuating mechanism (1) of operation, and the middle part passageway of slender rod (6) through the terminal actuating mechanism (1) of operation of surgical instruments (5), the terminal actuating mechanism (1) of operation includes linear motion mechanism and rotary motion mechanism, linear motion, rotary motion are made in slender rod (6) of surgical instruments (5) under the drive of linear motion mechanism, rotary motion mechanism.
2. A compact endoscopic surgical robot end drive structure as defined in claim 1, wherein: the linear motion mechanism comprises a first rotating motor (7) and a second rotating motor (8) which are arranged in a bilateral symmetry manner, the output ends of the first rotating motor (7) and the second rotating motor (8) are respectively provided with a first driving wheel (9) and a second driving wheel (10), the driving wheel I (9) is meshed with the driven wheel I (12) through a double-toothed transmission belt I (11), the driving wheel II (10) is meshed with the driven wheel II (14) through a double-tooth-plane conveyor belt II (13), the peripheries of the double-tooth-surface conveyor belt I (11) and the double-tooth-surface conveyor belt II (13) are respectively connected with a single-tooth-surface conveyor belt I (15) and a single-tooth-surface conveyor belt II (16) in a meshing manner, the slender rod (6) of the surgical instrument (5) is clamped between the single-tooth-surface conveyor belt I (15) and the single-tooth-surface conveyor belt II (16), and the linear motion is driven by the single-tooth-surface conveyor belt I (15) and the single-tooth-surface conveyor belt II (16).
3. A compact endoscopic surgical robot end drive structure as defined in claim 2, wherein: the outer sides of the single-tooth-surface conveyor belt I (15) and the single-tooth-surface conveyor belt II (16) are respectively provided with an arc-shaped groove (17), and the arc-shaped grooves (17) are tightly attached to the slender rod (6) of the surgical instrument (5).
4. A compact endoscopic surgical robot end drive structure according to claim 2 or 3, wherein: the rotary motion mechanism comprises a disc type motor stator (18) and a disc type motor rotor (19), the disc type motor stator (18) is fixedly connected to the driving mechanism base (2), the disc type motor rotor (19) rotates relative to the disc type motor stator (18), and drives a bearing seat (22) and a first rotary motor (7) and a second rotary motor (8) which are installed on the bearing seat (22) to rotate through a transmission shaft sleeve (20) and a disc type bearing (21).
5. A compact endoscopic surgical robot end drive structure as defined in claim 1, wherein: arm (3) are connected on portable frame (23), portable frame (23) are striden and are located bed board (4) top, translation guide rail (24) are installed to the bed board (4) left and right sides, horizontal migration is made along translation guide rail (24) in portable frame (23).
6. A compact endoscopic surgical robot end drive structure as defined in claim 5, wherein: arm (3) are including articulated arm connecting rod one (25), arm connecting rod two (26), arm connecting rod three (27), arm connecting rod four (28) in proper order, actuating mechanism base (2) fixed connection is on the terminal connecting rod (29) of arm, the terminal connecting rod (29) of arm is connected with arm connecting rod one (25), arm connecting rod four (28) are installed on arm base (30) to connect on portable frame (23) through arm base (30).
7. A compact endoscopic surgical robot end drive structure as defined in claim 6, wherein: the tail end of the surgical instrument (5) is connected with a flexible cable (31), the flexible cable (31) comprises a power cable and a signal cable of the surgical instrument, and the other end of the flexible cable (31) is connected to the mechanical arm connecting rod I (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011518553.8A CN112545656A (en) | 2020-12-21 | 2020-12-21 | Terminal drive structure of compact endoscope operation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011518553.8A CN112545656A (en) | 2020-12-21 | 2020-12-21 | Terminal drive structure of compact endoscope operation robot |
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| CN112545656A true CN112545656A (en) | 2021-03-26 |
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| CN202011518553.8A Pending CN112545656A (en) | 2020-12-21 | 2020-12-21 | Terminal drive structure of compact endoscope operation robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113413215A (en) * | 2021-06-30 | 2021-09-21 | 福建省立医院 | Automatic conveying operation device of fiberbronchial endoscope |
| WO2024007472A1 (en) * | 2022-07-04 | 2024-01-11 | 中国科学院自动化研究所 | Feeding system and feeding method for medical instrument having controllable flexible tail end |
-
2020
- 2020-12-21 CN CN202011518553.8A patent/CN112545656A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113413215A (en) * | 2021-06-30 | 2021-09-21 | 福建省立医院 | Automatic conveying operation device of fiberbronchial endoscope |
| WO2024007472A1 (en) * | 2022-07-04 | 2024-01-11 | 中国科学院自动化研究所 | Feeding system and feeding method for medical instrument having controllable flexible tail end |
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