CN116327367A - Parallel driving surgical robot positioning platform - Google Patents
Parallel driving surgical robot positioning platform Download PDFInfo
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- CN116327367A CN116327367A CN202310068468.3A CN202310068468A CN116327367A CN 116327367 A CN116327367 A CN 116327367A CN 202310068468 A CN202310068468 A CN 202310068468A CN 116327367 A CN116327367 A CN 116327367A
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- 239000012636 effector Substances 0.000 claims abstract description 39
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000002679 ablation Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006698 induction Effects 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
- A61B34/30—Surgical robots
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention provides a parallel driving surgical robot positioning platform which is characterized by comprising an upper moving platform, a lower moving platform, an upper connecting arm, a lower connecting arm and an end effector, wherein the upper moving platform and the lower moving platform can respectively perform plane movement in XY two directions, the upper connecting arm and the lower connecting arm are respectively in spherical hinge connection with the upper moving platform and the lower moving platform, and the end effector is driven to perform plane movement or angle adjustment within a certain range along with the movement of the upper moving platform and the lower moving platform; the invention can control the position and the angle of the end effector through the upper moving platform and the lower moving platform, assists medical staff in performing operation, has small volume, does not need multi-joint serial connection, and has high end rigidity, high precision and convenient operation of operators.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a parallel driving surgical robot positioning platform.
Background
The surgical robot is mainly used for replacing a doctor to perform puncture surgery or ablation surgery, and can fix a puncture needle to improve the puncture precision; the ablation needle can be fixed, and the doctor is replaced to hold the ablation needle within half an hour of ablation time, so that the burden of the doctor is reduced.
The current demand for surgical robots is more and more remarkable, the condition of assisting or replacing medical staff by using the surgical robots is more and more, a plurality of surgical robots similar to the types of industrial robots can be seen in the market, and the robots are characterized by large volume, serial joints, small terminal rigidity and low precision, are inconvenient to cooperate with operators due to large volume, and are difficult to be used together with CT, MR, DSA and other equipment.
Disclosure of Invention
The invention aims to provide a parallel driving surgical robot positioning platform, which solves the problems that in the prior art and a surgical robot is large in size, is formed by connecting multiple joints in series, has small terminal rigidity and low precision, is inconvenient to cooperate with an operator, and is difficult to use together with CT, MR, DSA and other equipment.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the utility model provides a parallelly connected drive surgical robot location platform, includes moving platform 1, lower moving platform 2, goes up linking arm 3, lower linking arm 4 and end effector 5, go up moving platform 1 with lower moving platform 2 can all carry out the plane removal in XY two directions respectively, go up linking arm 3 with lower linking arm 4 respectively with go up moving platform 1 with lower moving platform 2 spherical hinge connects, and with last moving platform 1 with the removal of moving platform 2 down drives end effector 5 carries out plane removal or angular adjustment in a certain limit.
The upper moving platform 1 comprises an upper bottom plate 11, an upper X-direction guide rail 12, an upper X-direction motor 13, an upper X-direction lead screw 14, an upper XY connecting shell 15, an upper Y-direction guide rail 16, an upper Y-direction motor 17, an upper Y-direction lead screw 18 and an upper connecting arm fixing frame 19; the upper base plate 11 is fixedly arranged on the inner bottom surface of the upper moving platform 1, a larger upper base plate square hole 111 is formed in the upper base plate 11, two upper X-direction guide rails 12 are fixedly connected in the upper base plate square hole 111, the upper X-direction guide rails 12 are I-shaped guide rails, an upper X-direction guide rail sliding block 121 and the upper X-direction guide rails 12 are correspondingly arranged to be matched and can slide on the I-shaped guide rails, the upper X-direction guide rail sliding block 121 is fixedly connected to the bottom of the upper XY connecting shell 15 through threaded connection, an upper X-direction motor bracket 131 is fixedly connected to the upper base plate 11, an upper X-direction motor 13 and an upper X-direction lead screw 14 are fixedly connected to the upper X-direction motor bracket 131, and an upper X-direction lead screw bracket 141 is arranged at one end, far away from the upper X-direction lead screw 14, of the upper X-direction lead screw 14 plays a role in supporting the upper X-direction lead screw 14; the upper X-direction screw 14, the upper X-direction motor bracket 131 and the upper X-direction screw bracket 141 are fixed by a bearing, and the upper X-direction motor 13 drives the upper X-direction screw 14 to rotate by a pair of upper X-direction screw gears 132; an upper sliding block 142 is arranged on the upper X-direction lead screw 14, and the upper sliding block 142 and the upper X-direction lead screw 14 drive the upper sliding block 142 to move through screw thread transmission; the upper XY coupling case 15 is provided with a sheet-shaped upper coupling case fixing piece 151 near the upper slider 142, and the upper XY coupling case 15 can be moved along with the upper slider 142 by fixing between the upper coupling case fixing piece 151 and the upper slider 142.
The two sides of the inner wall of the upper XY connecting shell 15 are fixedly connected with vertically placed upper Y-direction guide rails 16, the upper Y-direction guide rails 16 are I-shaped guide rails, upper Y-direction guide rail slide blocks 161 and upper Y-direction guide rails 16 are correspondingly arranged and matched and can slide on the upper Y-direction guide rails 16, the Y-direction guide rail slide blocks 161 are fixedly arranged on two sides of the upper connecting arm fixing frame 19, one end of the upper connecting arm fixing frame 19, which is close to the upper connecting shell fixing frame 151, is hollow, the upper Y-direction motor 17 and the upper Y-direction lead screw 18 are internally arranged, the upper Y-direction motor 17 and the upper Y-direction lead screw 18 are arranged side by side, and are respectively connected with the upper XY connecting shell 15 on one side, which is close to the upper connecting shell fixing frame 151, through a pair of upper Y-direction gears 171 drive the upper Y-direction lead screw 18 to rotate, one side, which is close to the upper Y-direction lead screw 18, of the upper connecting arm fixing frame 19 is internally provided with an upper connecting arm adjusting baffle 191, which is provided with an upper connecting arm 192 capable of being coincident with the upper Y-direction lead screw hole 192, and a connecting arm 192 can be coincident with the upper axis of the upper Y-direction lead screw 18, and the upper connecting arm 192 can be coincident with the upper axis line of the upper connecting arm 192; the upper connecting arm fixing frame 19 moves along with the rotation of the upper Y-direction screw 18 by the upper connecting arm adjusting baffle 191.
The end of the upper connecting arm fixing frame 19 extending out of the upper moving platform 1 is an upper connecting arm clamping structure 193, and the upper connecting arm clamping structure 193 includes a first upper buckle 194, a first upper buckle chute 1941, a first upper buckle spring hole 1942, a second upper buckle 195, a second upper buckle chute 1951, a second upper buckle spring hole 1952, and an upper connecting arm hole 196; the inner diameter of the upper connecting arm hole 196 is slightly larger than the outer diameter of the upper connecting arm 3, the first upper buckle 194 and the second upper buckle 195 are placed side by side on the side surface of the upper connecting arm clamping structure 193, the first upper buckle 194 is relatively more outside, the first upper buckle 194 and the second upper buckle 195 are both in a U shape, the opening end of the U shape is respectively provided with a first upper buckle connecting post 1943 and a second upper buckle connecting post 1953, the first upper buckle 194 is slightly longer than the length of the second upper buckle 195, the intersection of the first upper buckle connecting post 1943 and the upper connecting arm clamping structure 193 is the first upper buckle chute 1941, the intersection of the second upper buckle connecting post 1953 and the upper connecting arm clamping structure 193 is the second upper buckle chute 1951, and the position of the first upper buckle chute 1951 is relatively more close to the position of the second upper buckle chute 1951 to the edge of the upper connecting arm clamping structure 193 so as to adapt to the first upper buckle 194; the upper connecting arm clamping structure 193 is provided with a first upper clamping spring hole 1942 and a second upper clamping spring hole 1952 on the surface near the corresponding positions of the closed ends of the first upper clamping buckle 194 and the second upper clamping buckle 195, and a spring is installed between the first upper clamping buckle 194 and the first upper clamping buckle spring hole 1942 and between the second upper clamping buckle 195 and the second upper clamping buckle spring hole 1952 when in operation.
The lower moving platform 2 comprises a lower bottom plate 21, a lower X-direction guide rail 22, a lower X-direction motor 23, a lower X-direction lead screw 24, a lower XY connecting shell 25, a lower Y-direction guide rail 26, a lower Y-direction motor 27, a lower Y-direction lead screw 28 and a lower connecting arm fixing frame 29; the lower bottom plate 21 is fixedly arranged on the inner bottom surface of the lower moving platform 2, a larger lower bottom plate square hole 211 and a smaller sensor fixing hole 212 are formed in the lower bottom plate 21, a three-dimensional force sensor 213 is arranged in the sensor fixing hole 212, two lower X-direction guide rails 22 are fixedly connected in the lower bottom plate square hole 211, the lower X-direction guide rails 22 are I-shaped guide rails, a lower X-direction guide rail sliding block 221 and the lower X-direction guide rails 22 are correspondingly arranged to be matched and can slide on the I-shaped guide rails, the lower X-direction guide rails 221 are fixedly connected to the bottom of the lower XY connecting shell 25 through threads, a lower X-direction motor support 231 is fixedly connected to the lower bottom plate 21, a lower X-direction motor 23 and a lower X-direction lead screw 24 are fixedly connected to the lower X-direction motor support 231, and one end of the lower X-direction lead screw 24, which is far away from the lower X-direction lead screw support 241, is arranged on the lower X-direction lead screw 24 and plays a role in supporting the lower X-direction lead screw 24; the lower X-direction screw 24, the lower X-direction motor bracket 231 and the lower X-direction screw bracket 241 are fixed by a bearing, and the lower X-direction motor 23 drives the lower X-direction screw 24 to rotate by a pair of lower X-direction screw gears 232; a lower sliding block 242 is arranged on the lower X-direction screw 24, and the lower sliding block 242 and the lower X-direction screw 24 drive the lower sliding block 242 to move through screw thread transmission; the lower XY link housing 25 is provided with a sheet-shaped lower link housing fixing piece 251 near the lower slider 242, and the lower XY link housing 25 can be moved together with the lower slider 242 by fixing between the lower link housing fixing piece 251 and the lower slider 242.
The lower Y-direction guide rails 26 which are vertically arranged are fixedly connected to the two sides of the inner wall of the lower XY-connection shell 25, the lower Y-direction guide rails 26 are I-shaped guide rails, a lower Y-direction guide rail slide block 261 and the lower Y-direction guide rails 26 are correspondingly arranged and matched and can slide on the lower Y-direction guide rails, the Y-direction guide rail slide block 261 is fixedly arranged on the two sides of the lower connecting arm fixing frame 29, one end of the lower connecting arm fixing frame 29, which is close to the lower connecting shell fixing frame 251, is hollow, the lower Y-direction motor 27 and the lower Y-direction lead screw 28 are arranged in the lower connecting arm fixing frame 29, the lower Y-direction motor 27 and the lower Y-direction lead screw 28 are arranged side by side, the lower Y-direction motor 27 and the lower Y-direction lead screw 28 are connected with one side, which is close to the lower connecting shell fixing frame 251, of the lower Y-direction motor 27 drives the lower Y-direction lead screw 28 to rotate through a pair of lower Y-direction gears 271, one side, which is close to the lower Y-direction lead screw 28, of the lower connecting arm fixing frame 29 is provided with a lower connecting arm adjusting baffle 291, the lower connecting arm adjusting baffle is provided with a lower connecting arm which can be matched with the lower Y-direction lead screw 28, and a lower Y-direction lead screw hole 292, and the lower Y-direction lead screw 28 can be coincident with the lower Y-direction lead screw hole 292; the lower link arm fixing frame 29 moves along with the rotation of the lower Y-direction screw 28 by the lower link arm adjusting baffle 291.
The end of the lower connecting arm fixing frame 29 extending out of the lower moving platform 2 is a lower connecting arm clamping structure 293, and the lower connecting arm clamping structure 293 includes a first lower buckle 294, a first lower buckle sliding slot 2941, a first lower buckle spring hole 2942, a second lower buckle 295, a second lower buckle sliding slot 2951, a second lower buckle spring hole 2952, and a lower connecting arm hole 296; the inner diameter of the lower connecting arm hole 296 is slightly larger than the outer diameter of the lower connecting arm 4, the first lower buckle 294 and the second lower buckle 295 are placed on the side surface of the lower connecting arm clamping structure 293 side by side, the first lower buckle 294 and the second lower buckle 295 are both in a U shape, the opening end of the U shape is respectively provided with a first lower buckle connecting column 2943 and a second lower buckle connecting column 2953, the first lower buckle 294 is slightly longer than the length of the second lower buckle 295, the intersection of the first lower buckle connecting column 2943 and the lower connecting arm clamping structure 293 is the first lower buckle sliding groove 2941, the intersection of the second lower buckle connecting column 2953 and the lower connecting arm clamping structure 293 is the second lower buckle sliding groove 2951, and the position of the first lower buckle sliding groove 2941 is more close to the edge of the lower connecting arm clamping structure 293 relative to the position of the second lower buckle sliding groove 2951 so as to adapt to the first lower buckle 29294 with a slightly longer length; the lower connecting arm clamping structure 293 is provided with a first lower buckle spring hole 2942 and a second lower buckle spring hole 2952 on the surface near the corresponding positions of the closed ends of the first lower buckle 294 and the second lower buckle 295, and the springs are mounted between the first lower buckle 294 and the first lower buckle spring hole 2942 and between the second lower buckle 295 and the second lower buckle spring hole 2952 when in operation.
The main body of the upper connecting arm 3 is cylindrical, one end of the main body is in a circular truncated cone shape, the main body is conveniently inserted into the upper connecting arm hole 196 of the upper connecting arm fixing frame 19, two grooves are respectively arranged on the upper connecting arm 3, the first upper arm groove 31 and the second upper arm groove 32 are respectively arranged at two positions, the second upper arm groove 32 is closer to one end of the circular truncated cone shape and deeper, the distance between the first upper arm groove 31 and the second upper arm groove 32 is equal to the distance between the first upper buckle 194 and the second upper buckle 195, the first upper arm groove 31 can be exactly clamped into the first upper buckle 194, the second upper arm groove 32 can be exactly clamped into the second upper buckle 195, the U-shaped upper arm connector 33 is arranged at one end of the upper connecting arm 3 far away from the circular truncated cone shape, and the upper arm hinge groove 34 is reserved at the opening end of the upper arm connector 33; the main body of the lower connecting arm 4 is cylindrical, one end of the main body of the lower connecting arm is in a shape of a circular truncated cone, and is convenient to insert into the lower connecting arm hole 296 of the lower connecting arm fixing frame 29, two grooves which are respectively a first lower arm groove 41 and a second lower arm groove 42 are arranged on the lower connecting arm 4, wherein the second lower arm groove 42 is closer to one end of the circular truncated cone and has a deeper depth, the distance between the first lower arm groove 41 and the second lower arm groove 42 is equal to the distance between the first lower buckle 294 and the second upper buckle 195, the first upper arm groove 31 can be just blocked into the first upper buckle 194, and the second lower arm groove 42 can be just blocked into the second lower buckle 295; the end of the lower connecting arm 4 far away from the round table shape is provided with a U-shaped lower arm connector 43, and an upper arm hinge groove 44 is reserved at the opening end of the upper arm connector 43.
The end effector 5 is provided with a needle holder 51, a pair of upper effector hinge shafts 53 and a pair of lower effector hinge shafts 54 are provided on the side wall of the end effector 5, the upper effector hinge shafts 53 may be engaged with the upper arm hinge grooves 34 to hinge the upper connecting arm 3 and the end effector 5, and the lower effector hinge shafts 54 may be engaged with the lower arm hinge grooves 44 to hinge the lower connecting arm 4 and the end effector 5.
The left and right sides of the upper surface of the upper mobile platform 1 are provided with upper anti-slip pads 101, a display screen 102 is arranged on the upper mobile platform 1, an upper electric connector 103 is arranged on the side opposite to the upper connecting arm fixing frame 19, the upper electric connector 103 is connected with the display screen 102 to control and supply power, and whether communication is normal or not and whether error is reported or not can be displayed on the display screen 102; the left and right sides of the bottom surface of the lower moving platform 2 is provided with a lower anti-slip pad 201, one side of the lower moving platform 2 opposite to the lower connecting arm fixing frame 29 is provided with a lower electrical connector 203, the bottom surface of the lower moving platform 2 is provided with a chuck 204 at a position of a three-dimensional force sensor 213, the chuck 204 is flat and cylindrical, a chuck hole 2041 is arranged in the middle of the chuck 204, threads are arranged in the chuck hole, and tooth grooves are distributed on the lower surface of the chuck 204 and are similar to face gears.
Compared with the prior art, the invention has the following beneficial effects:
the invention can be fixedly used in a small space, for example, when a patient is in the induction space of CT, MR, DSA and other equipment, the surgical robot can be placed beside the patient, a doctor can operate the surgical robot while checking the distribution condition of internal tissues of the patient in real time, and the focus is accurately operated.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the internal structure of the upper mobile platform according to the present invention;
FIG. 3 is a schematic view of the internal split structure of the upper mobile platform of the present invention;
FIG. 4 is a schematic diagram of the structure of the upper XY connecting shell according to the present invention;
FIG. 5 is a schematic view of the structure of the upper arm fixing frame of the present invention;
FIG. 6 is a partial cross-sectional view of the upper arm mount of the present invention;
FIG. 7 is a schematic view of the structure of the upper arm fixing frame with the fastener removed;
FIG. 8 is a schematic diagram of the internal structure of the lower mobile platform according to the present invention;
FIG. 9 is a schematic view of the internal split structure of the lower mobile platform of the present invention;
FIG. 10 is a schematic view of the structure of the lower XY connecting shell according to the present invention;
FIG. 11 is a schematic view of a lower arm mount according to the present invention;
FIG. 12 is a partial cross-sectional view of the lower arm mount of the present invention;
FIG. 13 is a schematic view of the lower arm holder of the present invention with the clip removed;
FIG. 14 is a schematic view of the structure of the upper and lower connecting arms of the present invention;
FIG. 15 is a schematic view of the upper and lower connecting arms and end effector of the present invention;
FIG. 16 is a schematic view of the floor structure of the lower floor of the present invention;
FIG. 17 is a schematic view of an embodiment of the present invention in use with a robotic arm;
FIG. 18 is a schematic diagram of a matching structure of a mechanical arm and a chuck in an embodiment of the invention
In the figure: 1-an upper mobile platform; 101-an upper anti-slip pad; 102-a display screen; 103-electrical connectors; 11-an upper base plate; 111-upper bottom plate square holes; 12-upper X-direction guide rail; 121-upper X guide rail slide block; 13-upper X direction motor; 131-upper X motor bracket; 132-upper X lead screw gear; 14-upper X-direction screw rod; 141-upper X screw support; 142-upper slide block; 15-upper XY linker; 151-upper connecting shell fixing piece; 16-upper Y-direction guide rail; 161-upper Y guide rail slide block; 17-upper Y-direction motor; 171-upper Y-direction gear; 18-upper Y-direction screw rod; 19-upper connecting arm fixing frame; 191-upper connecting arm adjusting baffle; 192-upper connecting arm adjustment aperture; 193-upper connecting arm clamping structure; 194-first upper clasp; 1941-first upper snap runner; 1943-a first upper snap spring hole; 1943-first upper snap connection post; 195-a second upper clasp; 1951-second upper snap runner; 1952-second upper snap spring hole; 1953-second upper snap connection post; 196-upper connecting arm holes; 2-a lower mobile platform; 201-lower anti-slip pad; 203-lower electrical connector; 204-a chuck; 2041 chuck holes; 21-a lower plate; 211-square holes of the lower bottom plate; 22-lower X-direction guide rail; 221-lower X guide rail slide block; 23-lower X direction motor; 231-lower X motor support; 232-lower X lead screw gear; 24-lower X-direction screw rod; 241-lower X lead screw holder; 242-lower slide block; 25-lower XY linker; 251-lower connection shell fixing piece; 26-lower Y-direction guide rail; 261-lower Y guide rail slide block; 27-lower Y-direction motor; 271-lower Y-direction gears; 28-lower Y-direction lead screw; 29-a lower connecting arm fixing frame; 291-lower connecting arm adjustment baffle; 292-lower link arm adjustment aperture; 293-lower connecting arm clamping structure; 294-first lower catch; 2941-first lower snap-in chute; 2943-first lower snap spring hole; 2943-first lower snap connection post; 295-a second lower clasp; 2951-second lower snap runner; 2952-second lower snap spring hole; 2953-a second lower snap connection post; 296-lower connecting arm hole; 3-upper connecting arms; 31-a first upper arm recess; 32-a second upper arm recess; 33-upper arm connector; 34-upper arm hinge slots; 4-a lower connecting arm; 41-a first lower arm recess; 42-a second lower arm recess; 43-upper arm connector; 44-upper arm hinge slots; 5-an end effector; 51-needle holder; 53-upper actuator hinge shaft; 54-lower actuator hinge shaft; 6-a mechanical arm; 61-a robotic chuck; 62-chuck set screw.
Detailed Description
In order to clarify the technical problems, technical solutions, implementation processes and performance, the present invention will be further described in detail below with reference to examples. It should be understood that the specific embodiments described herein are for purposes of illustration only. The invention is not intended to be limiting. Various exemplary embodiments, features and aspects of the disclosure will be described in detail below with reference to the drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
In addition, numerous specific details are set forth in the following detailed description in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art have not been described in detail in order not to obscure the present disclosure.
Example 1
The utility model provides a parallelly connected drive surgical robot location platform, includes moving platform 1, lower moving platform 2, goes up linking arm 3, lower linking arm 4 and end effector 5, go up moving platform 1 with lower moving platform 2 can all carry out the plane removal in XY two directions respectively, go up linking arm 3 with lower linking arm 4 respectively with go up moving platform 1 with lower moving platform 2 spherical hinge connects, and with last moving platform 1 with the removal of moving platform 2 down drives end effector 5 carries out plane removal or angular adjustment in a certain limit.
The upper moving platform 1 comprises an upper bottom plate 11, an upper X-direction guide rail 12, an upper X-direction motor 13, an upper X-direction lead screw 14, an upper XY-connection shell 15, an upper Y-direction guide rail 16, an upper Y-direction motor 17, an upper Y-direction lead screw 18 and an upper connecting arm fixing frame 19, wherein the upper connecting arm fixing frame 19 is arranged in the upper XY-connection shell 15; the upper base plate 11 is fixedly arranged on the inner bottom surface of the upper moving platform 1, a larger upper base plate square hole 111 is formed in the upper base plate 11, two upper X-direction guide rails 12 are fixedly connected in the upper base plate square hole 111, the upper X-direction guide rails 12 are I-shaped guide rails, an upper X-direction guide rail sliding block 121 and the upper X-direction guide rails 12 are correspondingly arranged to be matched and can slide on the I-shaped guide rails, the upper X-direction guide rail sliding block 121 is fixedly connected to the bottom of the upper XY connecting shell 15 through threaded connection, an upper X-direction motor bracket 131 is fixedly connected to the upper base plate 11, an upper X-direction motor 13 and an upper X-direction lead screw 14 are fixedly connected to the upper X-direction motor bracket 131, and an upper X-direction lead screw bracket 141 is arranged at one end, far away from the upper X-direction lead screw 14, of the upper X-direction lead screw 14 plays a role in supporting the upper X-direction lead screw 14; the upper X-direction screw 14, the upper X-direction motor bracket 131 and the upper X-direction screw bracket 141 are fixed by a bearing, and the upper X-direction motor 13 drives the upper X-direction screw 14 to rotate by a pair of upper X-direction screw gears 132; an upper sliding block 142 is arranged on the upper X-direction lead screw 14, and the upper sliding block 142 and the upper X-direction lead screw 14 drive the upper sliding block 142 to move through screw thread transmission; the upper XY connecting case 15 is provided with a sheet-shaped upper connecting case fixing piece 151 near the upper slider 142, and the upper XY connecting case 15 can be moved along with the upper slider 142 by fixing the upper connecting case fixing piece 151 with the upper slider 142, so as to drive the whole upper connecting arm fixing frame 19 to move in the X direction.
The two sides of the inner wall of the upper XY connecting shell 15 are fixedly connected with vertically placed upper Y-direction guide rails 16, the upper Y-direction guide rails 16 are I-shaped guide rails, upper Y-direction guide rail slide blocks 161 and upper Y-direction guide rails 16 are correspondingly arranged and matched and can slide on the upper Y-direction guide rails 16, the Y-direction guide rail slide blocks 161 are fixedly arranged on two sides of the upper connecting arm fixing frame 19, one end of the upper connecting arm fixing frame 19, which is close to the upper connecting shell fixing frame 151, is hollow, the upper Y-direction motor 17 and the upper Y-direction lead screw 18 are internally arranged, the upper Y-direction motor 17 and the upper Y-direction lead screw 18 are arranged side by side, and are respectively connected with the upper XY connecting shell 15 on one side, which is close to the upper connecting shell fixing frame 151, through a pair of upper Y-direction gears 171 drive the upper Y-direction lead screw 18 to rotate, one side, which is close to the upper Y-direction lead screw 18, of the upper connecting arm fixing frame 19 is internally provided with an upper connecting arm adjusting baffle 191, which is provided with an upper connecting arm 192 capable of being coincident with the upper Y-direction lead screw hole 192, and a connecting arm 192 can be coincident with the upper axis of the upper Y-direction lead screw 18, and the upper connecting arm 192 can be coincident with the upper axis line of the upper connecting arm 192; the upper connecting arm fixing frame 19 moves along with the rotation of the upper connecting arm adjusting baffle 191 driven by the upper Y-direction screw 18, so as to drive the upper connecting arm fixing frame 19 to move in the Y-direction, and the upper connecting arm 3 can be driven to adjust the position and the angle of the end effector 5 after the upper connecting arm 3 is inserted into the upper connecting arm fixing frame 19.
The end of the upper connecting arm fixing frame 19 extending out of the upper moving platform 1 is an upper connecting arm clamping structure 193, and the upper connecting arm clamping structure 193 includes a first upper buckle 194, a first upper buckle chute 1941, a first upper buckle spring hole 1942, a second upper buckle 195, a second upper buckle chute 1951, a second upper buckle spring hole 1952, and an upper connecting arm hole 196; the inner diameter of the upper connecting arm hole 196 is slightly larger than the outer diameter of the upper connecting arm 3, the first upper buckle 194 and the second upper buckle 195 are placed side by side on the side surface of the upper connecting arm clamping structure 193, the first upper buckle 194 is relatively more outside, the first upper buckle 194 and the second upper buckle 195 are both in a U shape, the opening end of the U shape is respectively provided with a first upper buckle connecting post 1943 and a second upper buckle connecting post 1953, the first upper buckle 194 is slightly longer than the length of the second upper buckle 195, the intersection of the first upper buckle connecting post 1943 and the upper connecting arm clamping structure 193 is the first upper buckle chute 1941, the intersection of the second upper buckle connecting post 1953 and the upper connecting arm clamping structure 193 is the second upper buckle chute 1951, and the position of the first upper buckle chute 1951 is relatively more close to the position of the second upper buckle chute 1951 to the edge of the upper connecting arm clamping structure 193 so as to adapt to the first upper buckle 194; the upper connecting arm clamping structure 193 is provided with a first upper clamping spring hole 1942 and a second upper clamping spring hole 1952 on the surface near the corresponding positions of the closed ends of the first upper clamping buckle 194 and the second upper clamping buckle 195, and a spring is installed between the first upper clamping buckle 194 and the first upper clamping buckle spring hole 1942 and between the second upper clamping buckle 195 and the second upper clamping buckle spring hole 1952 when in operation.
After the first upper clip connecting post 1943 and the second upper clip connecting post 1953 are directly clipped into the first upper clip sliding slot 1941 and the second upper clip sliding slot 1951, after the first upper clip spring hole 1942 and the second upper clip spring hole 1952 are placed with the springs, when the upper connecting arm 2 is completely inserted into the upper connecting arm hole 196, the first upper arm groove 31 and the second upper arm groove 32 on the upper connecting arm 3 can be just clipped into the first upper clip 194 and the second upper clip 195, and when the insertion is incomplete or the position is not correct, the positions of the first upper clip 194 and the second upper clip 195 cannot be flush, and therefore, the first upper clip 194 and the second upper clip 195 cannot be reset at the same time, and whether the upper connecting arm 3 is clipped into place can be confirmed by observing the positions of the first upper clip 194 and the second upper clip 195.
The lower moving platform 2 comprises a lower bottom plate 21, a lower X-direction guide rail 22, a lower X-direction motor 23, a lower X-direction lead screw 24, a lower XY-connection shell 25, a lower Y-direction guide rail 26, a lower Y-direction motor 27, a lower Y-direction lead screw 28 and a lower connecting arm fixing frame 29, wherein the lower connecting arm fixing frame 29 is arranged in the lower XY-connection shell 25; the lower bottom plate 21 is fixedly arranged on the inner bottom surface of the lower moving platform 2, a larger lower bottom plate square hole 211 and a smaller sensor fixing hole 212 are formed in the lower bottom plate 21, a three-dimensional force sensor 213 is arranged in the sensor fixing hole 212, two lower X-direction guide rails 22 are fixedly connected in the lower bottom plate square hole 211, the lower X-direction guide rails 22 are I-shaped guide rails, a lower X-direction guide rail sliding block 221 and the lower X-direction guide rails 22 are correspondingly arranged to be matched and can slide on the I-shaped guide rails, the lower X-direction guide rails 221 are fixedly connected to the bottom of the lower XY connecting shell 25 through threads, a lower X-direction motor support 231 is fixedly connected to the lower bottom plate 21, a lower X-direction motor 23 and a lower X-direction lead screw 24 are fixedly connected to the lower X-direction motor support 231, and one end of the lower X-direction lead screw 24, which is far away from the lower X-direction lead screw support 241, is arranged on the lower X-direction lead screw 24 and plays a role in supporting the lower X-direction lead screw 24; the lower X-direction screw 24, the lower X-direction motor bracket 231 and the lower X-direction screw bracket 241 are fixed by a bearing, and the lower X-direction motor 23 drives the lower X-direction screw 24 to rotate by a pair of lower X-direction screw gears 232; a lower sliding block 242 is arranged on the lower X-direction screw 24, and the lower sliding block 242 and the lower X-direction screw 24 drive the lower sliding block 242 to move through screw thread transmission; the lower XY connecting case 25 is provided with a sheet-shaped lower connecting case fixing piece 251 near the lower slider 242, and the lower XY connecting case 25 can be moved along with the lower slider 242 by fixing the lower connecting case fixing piece 251 with the lower slider 242, so as to drive the whole lower connecting arm fixing frame 29 to move in the X direction.
The lower Y-direction guide rails 26 which are vertically arranged are fixedly connected to the two sides of the inner wall of the lower XY-connection shell 25, the lower Y-direction guide rails 26 are I-shaped guide rails, a lower Y-direction guide rail slide block 261 and the lower Y-direction guide rails 26 are correspondingly arranged and matched and can slide on the lower Y-direction guide rails, the Y-direction guide rail slide block 261 is fixedly arranged on the two sides of the lower connecting arm fixing frame 29, one end of the lower connecting arm fixing frame 29, which is close to the lower connecting shell fixing frame 251, is hollow, the lower Y-direction motor 27 and the lower Y-direction lead screw 28 are arranged in the lower connecting arm fixing frame 29, the lower Y-direction motor 27 and the lower Y-direction lead screw 28 are arranged side by side, the lower Y-direction motor 27 and the lower Y-direction lead screw 28 are connected with one side, which is close to the lower connecting shell fixing frame 251, of the lower Y-direction motor 27 drives the lower Y-direction lead screw 28 to rotate through a pair of lower Y-direction gears 271, one side, which is close to the lower Y-direction lead screw 28, of the lower connecting arm fixing frame 29 is provided with a lower connecting arm adjusting baffle 291, the lower connecting arm adjusting baffle is provided with a lower connecting arm which can be matched with the lower Y-direction lead screw 28, and a lower Y-direction lead screw hole 292, and the lower Y-direction lead screw 28 can be coincident with the lower Y-direction lead screw hole 292; the lower connecting arm fixing frame 29 moves along with the rotation of the lower connecting arm adjusting baffle 291 driven by the lower Y-directional screw 28, so as to drive the lower connecting arm fixing frame 29 to move in the Y-direction, and the lower connecting arm 4 can be driven to adjust the position and the angle of the end effector 5 after the lower connecting arm 4 is inserted into the lower connecting arm fixing frame 29.
The end of the lower connecting arm fixing frame 29 extending out of the lower moving platform 2 is a lower connecting arm clamping structure 293, and the lower connecting arm clamping structure 293 includes a first lower buckle 294, a first lower buckle sliding slot 2941, a first lower buckle spring hole 2942, a second lower buckle 295, a second lower buckle sliding slot 2951, a second lower buckle spring hole 2952, and a lower connecting arm hole 296; the inner diameter of the lower connecting arm hole 296 is slightly larger than the outer diameter of the lower connecting arm 4, the first lower buckle 294 and the second lower buckle 295 are placed on the side surface of the lower connecting arm clamping structure 293 side by side, the first lower buckle 294 and the second lower buckle 295 are both in a U shape, the opening end of the U shape is respectively provided with a first lower buckle connecting column 2943 and a second lower buckle connecting column 2953, the first lower buckle 294 is slightly longer than the length of the second lower buckle 295, the intersection of the first lower buckle connecting column 2943 and the lower connecting arm clamping structure 293 is the first lower buckle sliding groove 2941, the intersection of the second lower buckle connecting column 2953 and the lower connecting arm clamping structure 293 is the second lower buckle sliding groove 2951, and the position of the first lower buckle sliding groove 2941 is more close to the edge of the lower connecting arm clamping structure 293 relative to the position of the second lower buckle sliding groove 2951 so as to adapt to the first lower buckle 29294 with a slightly longer length; the lower connecting arm clamping structure 293 is provided with a first lower buckle spring hole 2942 and a second lower buckle spring hole 2952 on the surface near the corresponding positions of the closed ends of the first lower buckle 294 and the second lower buckle 295, and the springs are mounted between the first lower buckle 294 and the first lower buckle spring hole 2942 and between the second lower buckle 295 and the second lower buckle spring hole 2952 when in operation.
After the first lower latch connecting post 2943 and the second lower latch connecting post 2953 are directly snapped into the first lower latch sliding slot 2941 and the second lower latch sliding slot 2951, after the first lower latch spring hole 2942 and the second lower latch spring hole 2952 are placed with the springs, when the lower connecting arm 4 is completely inserted into the lower connecting arm hole 296, the first lower arm groove 41 and the second lower arm groove 42 on the lower connecting arm 4 can be snapped into the first lower latch 294 and the second lower latch 295, and when the insertion is incomplete or the positions are not right, the positions of the first lower latch 294 and the second lower latch 295 cannot be flush, and cannot be reset at the same time, so that the first lower latch 294 and the second lower latch 295 not only can be snapped into the lower connecting arm 4, but also whether the lower connecting arm 4 is snapped into place can be confirmed by observing the positions of the first lower latch 294 and the second lower latch 295.
The main body of the upper connecting arm 3 is cylindrical, one end of the main body is in a circular truncated cone shape, the main body is conveniently inserted into the upper connecting arm hole 196 of the upper connecting arm fixing frame 19, two grooves are respectively arranged on the upper connecting arm 3, the first upper arm groove 31 and the second upper arm groove 32 are respectively arranged at two positions, the second upper arm groove 32 is closer to one end of the circular truncated cone shape and deeper, the distance between the first upper arm groove 31 and the second upper arm groove 32 is equal to the distance between the first upper buckle 194 and the second upper buckle 195, the first upper arm groove 31 can be exactly clamped into the first upper buckle 194, the second upper arm groove 32 can be exactly clamped into the second upper buckle 195, the U-shaped upper arm connector 33 is arranged at one end of the upper connecting arm 3 far away from the circular truncated cone shape, and the upper arm hinge groove 34 is reserved at the opening end of the upper arm connector 33; the main body of the lower connecting arm 4 is cylindrical, one end of the main body of the lower connecting arm is in a shape of a circular truncated cone, and is convenient to insert into the lower connecting arm hole 296 of the lower connecting arm fixing frame 29, two grooves which are respectively a first lower arm groove 41 and a second lower arm groove 42 are arranged on the lower connecting arm 4, wherein the second lower arm groove 42 is closer to one end of the circular truncated cone and has a deeper depth, the distance between the first lower arm groove 41 and the second lower arm groove 42 is equal to the distance between the first lower buckle 294 and the second upper buckle 195, the first lower arm groove 41 can be just blocked into the first lower buckle 294, and the second lower arm groove 42 can be just blocked into the second lower buckle 295; the end of the lower connecting arm 4 far away from the round table shape is provided with a U-shaped lower arm connector 43, and an upper arm hinge groove 44 is reserved at the opening end of the upper arm connector 43.
The end effector 5 is provided with a needle holder 51, a pair of upper effector hinge shafts 53 and a pair of lower effector hinge shafts 54 are provided on the side wall of the end effector 5, the upper effector hinge shafts 53 may be engaged with the upper arm hinge grooves 34 to hinge the upper connecting arm 3 and the end effector 5, and the lower effector hinge shafts 54 may be engaged with the lower arm hinge grooves 44 to hinge the lower connecting arm 4 and the end effector 5.
The left and right sides of the upper surface of the upper mobile platform 1 are provided with upper anti-slip pads 101, a display screen 102 is arranged on the upper mobile platform 1, an upper electric connector 103 is arranged on the side opposite to the upper connecting arm fixing frame 19, the upper electric connector 103 is connected with the display screen 102 to control and supply power, and whether communication is normal or not and whether error is reported or not can be displayed on the display screen 102; the method comprises the steps of carrying out a first treatment on the surface of the The left side and the right side of the bottom surface of the lower moving platform 2 are provided with lower anti-slip pads 201, one side of the lower moving platform 2 opposite to the lower connecting arm fixing frame 29 is provided with a lower electric connector 203, the bottom surface of the lower moving platform 2 is provided with a chuck 204 at a position of a three-dimensional force sensor 213, the chuck 204 is flat and cylindrical, the middle is provided with a chuck hole 2041, threads are arranged in the chuck hole, and tooth-shaped grooves are distributed on the lower surface of the chuck 204 and are similar to a face gear; the chuck 204 is generally directly connected with a mechanical arm 6, one end of the mechanical arm 6 is provided with a mechanical arm chuck 61 and a chuck fixing screw 62, the mechanical arm chuck 61 can be connected with the chuck 204 and matched with the chuck fixing screw, the outer surface of the chuck fixing screw 62 is provided with threads matched with the chuck hole 2041, the mechanical arm chuck 61 and the chuck 204 are attached, and the chuck fixing screw 62 is screwed, so that the mechanical arm 6 and the chuck 204 can be thoroughly fixed.
When in use, the invention is generally connected with a mechanical arm 6 at the chuck 204, the whole surgical robot is fixed at a approximate position beside a patient through the mechanical arm 6, and then the end effector 5 is driven through an XY axis in the robot, so that the needle body on the end effector 5 is driven to perform accurate operation, and a doctor can operate the surgical robot while checking the distribution condition of tissues in the patient in real time, so as to operate the focus.
The invention provides an ultra-small-volume parallel robot with a parallel mechanical structure, which can be fixedly used in a small space, for example, when a patient is in a sensing space of CT, MR, DSA and other equipment, the surgical robot can be placed beside the patient, and a doctor can operate the surgical robot while checking the distribution condition of tissues in the patient in real time, so that accurate operation is performed on a focus. The parallel robot provides excellent rigidity and precision for the end mechanism through structural parallel connection. The parallel mechanical structure comprises a sliding kinematic pair and a space hinge kinematic pair, and can provide 6 degrees of freedom at most
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a parallelly connected drive surgical robot location platform, its characterized in that includes moving platform (1), lower moving platform (2), goes up linking arm (3), lower linking arm (4) and end effector (5), go up moving platform (1) with lower moving platform (2) can all carry out the plane removal in XY two directions respectively, go up linking arm (3) with lower linking arm (4) respectively with go up moving platform (1) with lower moving platform (2) spherical hinge connects, and along with go up moving platform (1) with the removal of moving platform (2) down drives end effector (5) carry out plane removal or angle adjustment in the certain limit.
2. The parallel drive surgical robot positioning platform according to claim 1, wherein the upper moving platform (1) comprises an upper bottom plate (11), an upper X-direction guide rail (12), an upper X-direction motor (13), an upper X-direction screw (14), an upper XY connection housing (15), an upper Y-direction guide rail (16), an upper Y-direction motor (17), an upper Y-direction screw (18) and an upper connection arm fixing frame (19) inside; the upper base plate (11) is fixedly arranged on the inner bottom surface of the upper moving platform (1), a larger upper base plate square hole (111) is formed in the upper base plate (11), two upper X-direction guide rails (12) are fixedly connected in the upper base plate square hole (111), the upper X-direction guide rails (12) are I-shaped guide rails, an upper X-direction guide rail sliding block (121) and the upper X-direction guide rails (12) are correspondingly arranged to be matched and can slide on the I-shaped guide rails, the upper X-direction guide rail sliding block (121) is provided with an upper X-direction motor bracket (131) which is fixedly connected to the bottom of the upper XY connecting shell (15) through threaded connection, an upper X-direction motor bracket (131) is fixedly connected to the upper base plate (11), an upper X-direction motor (13) and an upper X-direction lead screw (14) are fixedly connected to the upper X-direction lead screw bracket (14), and one end of the upper X-direction lead screw (14) far away from the upper X-direction motor bracket (131) is provided with an upper X bracket (141) which plays a supporting role on the upper X-direction lead screw (14); the upper X-direction screw (14), the upper X-direction motor bracket (131) and the upper X-direction screw bracket (141) are fixed through a bearing, and the upper X-direction motor (13) drives the upper X-direction screw (14) to rotate through a pair of upper X-direction screw gears (132); an upper sliding block (142) is arranged on the upper X-direction lead screw (14), and the upper sliding block (142) and the upper X-direction lead screw (14) are driven to move through threaded transmission; the upper XY connecting shell (15) is provided with a sheet-shaped upper connecting shell fixing piece (151) close to the upper sliding block (142), and the upper XY connecting shell (15) can be used to move along with the upper sliding block (142) by fixing the upper connecting shell fixing piece (151) and the upper sliding block (142).
3. The parallel driving surgical robot positioning platform according to claim 2, wherein two sides of the inner wall of the upper XY connecting case (15) are fixedly connected with the upper Y-direction guide rail (16) which is vertically placed, the upper Y-direction guide rail (16) is an i-shaped guide rail, an upper Y-direction guide rail slide block (161) is correspondingly arranged to be matched with the upper Y-direction guide rail (16) and can slide on the upper Y-direction guide rail, the Y-direction guide rail slide block (161) is fixedly arranged at two sides of the upper connecting arm fixing frame (19), one end of the upper connecting arm fixing frame (19) close to the upper connecting case fixing frame (151) is hollow, the upper Y-direction motor (17) and the upper Y-direction guide screw (18) are internally arranged, the upper Y-direction motor (17) and the upper Y-direction guide screw (18) are arranged side by side, and are respectively connected with one side of the upper XY connecting case (15) close to the upper connecting case (151) through a bearing, the upper Y-direction motor (17) is fixedly arranged at two sides of the upper connecting arm fixing frame (19), one side of the upper XY connecting case (15) is driven by a pair of upper Y-direction gear wheels (171) to be close to the upper Y-direction guide screw (18), one side of the upper XY connecting arm fixing frame (19) is driven by the upper Y-direction guide screw (191), an upper connecting arm adjusting hole (192) capable of being matched with the upper Y-direction screw rod (18) is formed in the upper connecting arm adjusting baffle (191), threads capable of being matched with the upper Y-direction screw rod (18) are formed in the inner wall of the upper connecting arm adjusting hole (192), and the axis of the upper connecting arm adjusting hole (192) is coincident with the axis of the upper Y-direction screw rod (18); the upper connecting arm fixing frame (19) can move along with the rotation of the upper connecting arm adjusting baffle plate (191) under the drive of the upper Y-direction lead screw (18).
4. The parallel drive surgical robot positioning platform according to claim 2, wherein one end of the upper connecting arm fixing frame (19) extending out of the upper moving platform (1) is an upper connecting arm clamping structure (193), and the upper connecting arm clamping structure (193) comprises a first upper buckle (194), a first upper buckle sliding groove (1941), a first upper buckle spring hole (1942), a second upper buckle (195), a second upper buckle sliding groove (1951), a second upper buckle spring hole (1952) and an upper connecting arm hole (196); the inner diameter of the upper connecting arm hole (196) is slightly larger than the outer diameter of the upper connecting arm (3), the first upper buckle (194) and the second upper buckle (195) are placed on the side surface of the upper connecting arm clamping structure (193) side by side, the first upper buckle (194) is relatively more outside, the first upper buckle (194) and the second upper buckle (195) are both U-shaped, the opening end of the U-shaped is respectively provided with a first upper buckle connecting column (1943) and a second upper buckle connecting column (1953), the first upper buckle (194) is slightly longer than the length of the second upper buckle (195), the intersection of the first upper buckle connecting column (1943) and the upper connecting arm clamping structure (193) is the first upper buckle sliding groove (1941), the intersection of the second upper buckle connecting column (1953) and the upper connecting arm clamping structure (193) is the second upper buckle sliding groove (1951), and the first upper buckle (194) is located at a position relatively more close to the first upper buckle sliding groove (1951) and is adapted to the first upper buckle sliding groove (1951); the upper connecting arm clamping structure (193) is provided with a first upper clamping spring hole (1942) and a second upper clamping spring hole (1952) on the surface, which are close to the closed ends of the first upper clamping buckle (194) and the second upper clamping buckle (195), and the springs are installed between the first upper clamping buckle (194) and the first upper clamping buckle spring hole (1942) and between the second upper clamping buckle (195) and the second upper clamping buckle spring hole (1952) when in operation.
5. The parallel drive surgical robot positioning platform according to claim 1, wherein the lower moving platform (2) comprises a lower bottom plate (21), a lower X-direction guide rail (22), a lower X-direction motor (23), a lower X-direction screw (24), a lower XY connection housing (25), a lower Y-direction guide rail (26), a lower Y-direction motor (27), a lower Y-direction screw (28) and a lower connection arm fixing frame (29) inside; the lower bottom plate (21) is fixedly arranged on the inner bottom surface of the lower moving platform (2), a larger lower bottom plate square hole (211) and a smaller sensor fixing hole (212) are formed in the lower bottom plate (21), a three-dimensional force sensor (213) is arranged in the sensor fixing hole (212), two lower X-direction guide rails (22) are fixedly connected in the lower bottom plate square hole (211), the lower X-direction guide rails (22) are I-shaped guide rails, a lower X-direction guide rail slider (221) and the lower X-direction guide rails (22) are correspondingly arranged to be matched and can slide on the lower X-direction guide rails, the lower X-direction guide rail slider (221) is provided with a lower X-motor bracket (231) which is fixedly connected to the bottom of the lower XY-connecting shell (25) through threads, the lower X-direction motor bracket (231) is fixedly connected with the lower X-direction motor (23) and the lower X-direction guide rails (24), and the lower X-direction guide rails (24) are correspondingly arranged with lower X-direction guide rails (241) far away from the lower X-direction motor brackets, and one end of the lower X-direction guide screws (231) is provided with the lower screw rods (24); the lower X-direction screw (24), the lower X-direction motor bracket (231) and the lower X-direction screw bracket (241) are fixed through a bearing, and the lower X-direction motor (23) drives the lower X-direction screw (24) to rotate through a pair of lower X-direction screw gears (232); a lower sliding block (242) is arranged on the lower X-direction lead screw (24), and the lower sliding block (242) and the lower X-direction lead screw (24) are driven to move through threaded transmission; the lower XY connecting shell (25) is provided with a sheet-shaped lower connecting shell fixing piece (251) close to the lower sliding block (242), and the lower XY connecting shell (25) can move along with the lower sliding block (242) by fixing the lower connecting shell fixing piece (251) and the lower sliding block (242).
6. The parallel driving surgical robot positioning platform according to claim 5, wherein two sides of the inner wall of the lower XY connecting case (25) are fixedly connected with the lower Y-direction guide rail (26) which is vertically placed, the lower Y-direction guide rail (26) is an i-shaped guide rail, a lower Y-direction guide rail slider (261) is correspondingly arranged to be matched with the lower Y-direction guide rail (26) and can slide on the lower Y-direction guide rail, the Y-direction guide rail slider (261) is fixedly arranged at two sides of the lower connecting arm fixing frame (29), one end of the lower connecting arm fixing frame (29) close to the lower connecting case fixing frame (251) is hollow, the lower Y-direction motor (27) and the lower Y-direction guide screw (28) are internally arranged, the lower Y-direction motor (27) and the lower Y-direction guide screw (28) are arranged side by side, and are respectively connected with the lower XY connecting case (25) at one side close to the lower connecting case (251) through a bearing, the lower Y-direction motor (27) is fixedly arranged at two sides of the lower connecting arm fixing frame (29), one side close to the lower Y-direction guide screw (291) is driven by a pair of lower Y-direction gear wheels (271), the lower Y-direction guide screw (28) is arranged at one side close to the lower Y-direction fixing frame (291), a lower connecting arm adjusting hole (292) capable of being matched with the lower Y-direction screw rod (28) is formed below the lower connecting arm adjusting baffle (291), threads capable of being matched with the lower Y-direction screw rod (28) are formed on the inner wall of the lower connecting arm adjusting hole (292), and the axis of the lower connecting arm adjusting hole (292) is overlapped with the axis of the lower Y-direction screw rod (28); the lower connecting arm fixing frame (29) can move along with the rotation of the lower Y-direction lead screw (28) of the lower connecting arm adjusting baffle (291).
7. The parallel drive surgical robot positioning platform according to claim 5, wherein one end of the lower connecting arm fixing frame (29) extending out of the lower moving platform (2) is a lower connecting arm clamping structure (293), and the lower connecting arm clamping structure (293) comprises a first lower buckle (294), a first lower buckle sliding groove (2941), a first lower buckle spring hole (2942), a second lower buckle (295), a second lower buckle sliding groove (2951), a second lower buckle spring hole (2952) and a lower connecting arm hole (296); the inner diameter of the lower connecting arm hole (296) is slightly larger than the outer diameter of the lower connecting arm (4), the first lower buckle (294) and the second lower buckle (295) are arranged on the side surface of the lower connecting arm clamping structure (293) side by side, the first lower buckle (294) is relatively more outside, the first lower buckle (294) and the second lower buckle (295) are both U-shaped, a first lower buckle connecting column (2943) and a second lower buckle connecting column (2953) are respectively arranged at the opening end of the U-shaped, the length of the first lower buckle (294) is slightly longer than that of the second lower buckle (295), the intersection of the first lower buckle connecting column (2943) and the lower connecting arm clamping structure (293) is the first lower buckle sliding groove (2941), the intersection of the second lower buckle connecting column (2953) and the lower connecting arm clamping structure (293) is the second lower sliding groove (2951), and the position of the first lower buckle sliding groove (294) is relatively more suitable for the length of the second lower buckle sliding groove (2941) to be connected with the first lower buckle sliding groove (2951); the lower connecting arm clamping structure (293) is provided with a first lower clamping spring hole (2942) and a second lower clamping spring hole (2952) on the surface, which are close to the closed ends of the first lower clamping buckle (294) and the second lower clamping buckle (295), and the springs are installed between the first lower clamping buckle (294) and the first lower clamping buckle spring hole (2942) and between the second lower clamping buckle (295) and the second lower clamping buckle spring hole (2952) in operation.
8. The parallel driving surgical robot positioning platform according to claim 1, wherein the main body of the upper connecting arm (3) is cylindrical, one end of the main body is in a shape of a circular table and is conveniently inserted into the upper connecting arm hole (196) of the upper connecting arm fixing frame (19), two grooves are respectively formed in the upper connecting arm (3) and are a first upper arm groove (31) and a second upper arm groove (32), wherein the second upper arm groove (32) is closer to one end of the circular table and has a deeper depth, the distance between the first upper arm groove (31) and the second upper arm groove (32) is equal to the distance between the first upper buckle (194) and the second upper buckle (195), the first upper arm groove (31) can be exactly clamped into the first upper buckle (194), the second upper arm groove (32) can be exactly clamped into the second upper buckle (195), one end of the upper connecting arm (3) is far away from the connector (33) and an upper arm (33) is provided with an open slot; the lower connecting arm (4) is characterized in that the main body of the lower connecting arm (4) is cylindrical, one end of the main body is in a circular truncated cone shape and is convenient to insert into the lower connecting arm hole (296) of the lower connecting arm fixing frame (29), two grooves which are respectively a first lower arm groove (41) and a second lower arm groove (42) are arranged on the lower connecting arm (4), the second lower arm groove (42) is closer to one end of the circular truncated cone shape and deeper, the distance between the first lower arm groove (41) and the second lower arm groove (42) is equal to the distance between the first lower buckle (294) and the second upper buckle (195), the first upper arm groove (31) can be just clamped into the first upper buckle (194), and the second lower arm groove (42) can be just clamped into the second lower buckle (295); the one end that lower linking arm (4) kept away from round platform form is equipped with lower arm connector (43) of U style of calligraphy, upper arm hinge groove (44) are left to the open end of upper arm connector (43).
9. The parallel drive surgical robot positioning platform according to claim 1, wherein a needle holder (51) is provided on the end effector (5), a pair of upper effector hinge shafts (53) and a pair of lower effector hinge shafts (54) are provided on the side wall of the end effector (5), the upper effector hinge shafts (53) can be engaged with the upper arm hinge grooves (34) to hinge the upper connecting arm (3) and the end effector (5), and the lower effector hinge shafts (54) can be engaged with the lower arm hinge grooves (44) to hinge the lower connecting arm (4) and the end effector (5).
10. The parallel driving surgical robot positioning platform according to claim 1, wherein an upper anti-slip pad (101) is arranged on the left side and the right side of the upper surface of the upper moving platform (1), a display screen (102) is arranged on the upper moving platform, an upper electric connector (103) is arranged on the side, opposite to the upper connecting arm fixing frame (19), of the upper moving platform (1), the upper electric connector (103) is connected with the display screen (102) to control and supply power, and whether communication is normal or not and whether error is reported or not can be displayed on the display screen (102); the anti-slip mat (201) is arranged on the left side and the right side of the bottom surface of the lower moving platform (2), a lower electric joint (203) is arranged on one side, opposite to the lower connecting arm fixing frame (29), of the lower moving platform (2), a chuck (204) is arranged at the position, located at the position of a three-dimensional force sensor (213), of the bottom surface of the lower moving platform (2), the chuck (204) is flat and cylindrical, a chuck hole (2041) is formed in the middle of the chuck, threads are arranged in the chuck hole, and tooth-shaped grooves are distributed on the lower surface of the chuck (204) and are similar to an end face gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310068468.3A CN116327367A (en) | 2023-02-06 | 2023-02-06 | Parallel driving surgical robot positioning platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310068468.3A CN116327367A (en) | 2023-02-06 | 2023-02-06 | Parallel driving surgical robot positioning platform |
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| CN116327367A true CN116327367A (en) | 2023-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310068468.3A Pending CN116327367A (en) | 2023-02-06 | 2023-02-06 | Parallel driving surgical robot positioning platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117064559A (en) * | 2023-10-13 | 2023-11-17 | 上海嘉奥信息科技发展有限公司 | Double-sided multi-degree-of-freedom surgical robot |
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2023
- 2023-02-06 CN CN202310068468.3A patent/CN116327367A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117064559A (en) * | 2023-10-13 | 2023-11-17 | 上海嘉奥信息科技发展有限公司 | Double-sided multi-degree-of-freedom surgical robot |
| CN117064559B (en) * | 2023-10-13 | 2024-01-09 | 上海嘉奥信息科技发展有限公司 | Double-sided multi-degree-of-freedom surgical robot |
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