CN206643910U - A kind of medical manipulator - Google Patents
A kind of medical manipulator Download PDFInfo
- Publication number
- CN206643910U CN206643910U CN201720350708.9U CN201720350708U CN206643910U CN 206643910 U CN206643910 U CN 206643910U CN 201720350708 U CN201720350708 U CN 201720350708U CN 206643910 U CN206643910 U CN 206643910U
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- revolute pair
- connecting rod
- pair
- manipulator
- branch
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Abstract
The utility model discloses a kind of medical manipulator, belong to medical instruments field, for the shortcomings of structure existing for existing manipulator is complex, motion cumulative errors are larger, the technical scheme of use is：A kind of medical manipulator, including annular base, support and three three branches being arranged in parallel between base and support, three branches are driven by servomotor, installation operation motor on support, motor connection of performing the operation and drive surgical tools, first branch and the second branch are symmetrical arranged and include the first revolute pair being sequentially connected, second revolute pair, 3rd revolute pair, first prismatic pair and the 4th revolute pair, 3rd branch includes the 9th revolute pair being sequentially connected, tenth revolute pair and spherical pair or the 9th revolute pair including being sequentially connected, three moving sets and spherical pair.Robot manipulator structure of the present utility model is simple, accuracy is high, security is good.
Description
Technical field
A kind of medicine equipment is the utility model is related to, specifically a kind of medical manipulator.
Background technology
Minimally Invasive Surgery cuts open the chest to have the following advantages that compared with operation with traditional：Otch is small, and damage is light, safely and effectively, can be with
Internal organs exposure is avoided in atmosphere to reduce infection；The postoperative pain of patient can be reduced, patients ' recovery is very fast and can be
Postoperative to recover normal activity in a short time, therapeutic effect is equal to or higher than traditional surgery method；Postoperative wound compares conventional surgical
Perform the operation attractive in appearance, scar is small after healing.And continuous application and development with Minimally Invasive Surgery in clinical operation, there is higher operation
Precision and the micro-wound operation robot of simple operation also arise at the historic moment.Existing micro-wound operation robot mostly volume is larger,
It is complicated, control it is cumbersome, costly, in popularization and application also by it is more limitation, it is necessary to further improve.
Notification number discloses a kind of for the new of Minimally Invasive Surgery for the U of CN 204207849 Chinese utility model patent
Series-parallel connection manipulator：Including base, it is positioned above base and passes through the manipulator of base downwards and be connected in bottom in parallel
With three branches of driving manipulator block motion between seat and manipulator, each branch includes being sequentially connected
The first revolute pair, first connecting rod, the second revolute pair, second connecting rod, the 3rd revolute pair between manipulator and base,
Three connecting rods, the 4th revolute pair, fourth link and the 5th revolute pair；Second revolute pair axis of each branch and the 3rd turn
Dynamic secondary axis is parallel to each other and perpendicular to the first revolute pair axis and the 5th revolute pair axis.
Above-mentioned manipulator has carried out some improvement to existing manipulator, but because building block is more and use turns
, the shortcomings of structure is complex, kinematic error is larger also be present in dynamic pair.
Utility model content
The purpose of this utility model is for the deficiency that existing robot manipulator structure is complex, kinematic error is larger, is carried
For a kind of medical manipulator, the robot manipulator structure is compact, accuracy is high, security is good.
To achieve the above object, the utility model adopts the following technical scheme that：A kind of medical manipulator, including base,
Be positioned above base and pass through downwards base for Minimally Invasive Surgery manipulator and be connected in base and hand in parallel
It is used for the branch of control machinery hand module present position between art module, branch includes symmetrically arranged first branch
Mechanism and the second branch and the 3rd branch, first and second branch include first turn be sequentially connected respectively
Dynamic pair, first connecting rod, the second revolute pair, second connecting rod, the 3rd revolute pair, third connecting rod, fourth link and the 4th revolute pair, the
One revolute pair connects manipulator, the 4th revolute pair connect base；3rd branch includes the 9th rotation being sequentially connected
Pair, the 9th connecting rod, the tenth connecting rod and spherical pair, the 9th revolute pair connection manipulator, spherical pair connect base.
Compared with prior art, the improvement of the technical program essentially consists in：1. three are rotated by four connecting rods and five
The branch that pair is formed, being changed to one of branch includes a revolute pair, two connecting rods and a ball pair so that with
Other two differences, structure is simplified, more compact;2. the displacement of manipulator can pass through three branches
Mutually compare and be corrected so that kinematic error is smaller.
Rotated preferably, the 3rd branch also includes the tenth revolute pair, the 9th connecting rod and the tenth connecting rod by the tenth
Pair rotation connection.Original five revolute pairs instead of by two revolute pairs and a spherical pair so that compact-sized.
Preferably, the 9th connecting rod and the tenth connecting rod are formed into liftable sleeve structure, the 9th connecting rod is slide bar, the tenth
Connecting rod is sliding sleeve.Original five are instead of by a revolute pair, the prismatic pair of sleeve structure and a spherical pair to turn
Dynamic pair so that compact-sized.Revolute pair is replaced with to the prismatic pair of sleeve structure simultaneously so that the displacement of manipulator is more
Accurately.
Preferably, third connecting rod and fourth link form liftable sleeve structure, third connecting rod is slide bar, the
Double leval jib is sliding sleeve.Revolute pair is replaced with to the prismatic pair of sleeve structure so that the displacement of manipulator is more accurate.
Preferably, the second revolute pair axis and the 3rd revolute pair diameter parallel and perpendicular to the first revolute pair axis with
4th revolute pair axis, the 9th revolute pair axis and the tenth revolute pair diameter parallel and perpendicular to the first revolute pair axis.The
First, second and the 3rd in branch, and in addition to fixed part, other moveable parts can move in same plane so that machine
The displacement of tool fingerprint block is more accurate.
Preferably, the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 9th revolute pair, the tenth revolute pair include
Company's part with pin-and-hole in U-shaped part, bearing pin and insertion U-shaped part opening, U-shaped part are connected with even part by bearing pin.Using U-shaped part and
Bearing pin, convenient processing and assembling, and structure is more solid, and the displacement of manipulator is more accurate.
Preferably, the first revolute pair include sleeve and be arranged on sleeve outer peripheral face and can around the revolving part of sleeve rotating,
Revolving part connects the rod end of first connecting rod, and sleeve is hollow cylinder-shaped sleeve., can because the first revolute pair is as a driven member
Not need power, therefore above-mentioned simple structure is can be made into, reduce cost simultaneously to reduce the weight of manipulator.
Preferably, manipulator includes support, support is platform-like support, and sleeve is fixedly connected with the following table of support
Face, the U-shaped frame of the 9th revolute pair are fixedly connected with the side of support.It is more stable using platform-like support, structure so that operation work
The movement of tool is more stable, and kinematic error is smaller.
Preferably, manipulator also includes operation motor and operation tool, operation motor is arranged at rack upper surface,
Operation motor drive surgical tools, operation tool pass through sleeve, the pivot center of operation tool and the first revolute pair axis collinear.
Operation motor is easily installed, meanwhile, operation tool can with more convenient be accurately positioned by branch.
Preferably, the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 9th revolute pair, the tenth revolute pair, sleeve pipe
Structure and three moving sets respectively connect a servomotor.The movement of each kinematic pair can be accurately controlled by servomotor, is made
The displacement for obtaining manipulator is more accurate.
After each technical characteristic combination of the present utility model, have the advantages that compared with prior art：
1. building block is less, more compact structure, it is easy to multiple manipulators while works；
2. there are one and other two differences in three branches, higher rigidity is further ensured that, and is moved accumulative
Error is smaller, and operation precision is higher；
3. revolute pair is replaced using sleeve structure so that operation precision is higher；
4. manipulator is neatly moved around otch, it can not only meet the requirement of Minimally Invasive Surgery, and can reduce
Injury to otch, security are higher.
Brief description of the drawings
Fig. 1 is the structural representation of embodiment 1 of the present utility model；
Fig. 2 is the partial structural diagram of embodiment 1 of the present utility model；
Fig. 3 is the structural representation of embodiment 2 of the present utility model；
Fig. 4 is the schematic diagram of the working method of embodiment of the present utility model.
In figure mark for：1- bases；2- supports；3- sleeves；4- revolving members；5- operation motors；6- operation tools；7- people
Body otch；8- puncture cannulas；11- first connecting rods；12- second connecting rods；13- third connecting rods；14- fourth links；21- first is rotated
It is secondary；The revolute pairs of 22- second；The revolute pairs of 23- the 3rd；The revolute pairs of 24- the 4th；The connecting rods of 31- the 9th；The connecting rods of 32- the tenth；41- the 9th
Revolute pair；The revolute pairs of 42- the tenth；51- spherical pairs；Point O- intersection points.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.
Embodiment of the present utility model 1 as shown in Figure 1, including annular base 1, the first branch, the second branch
Mechanism, the 3rd branch and manipulator, the first branch and the second branch are symmetrical arranged, manipulator bag
Include platform-like support 2, operation motor 5 and operation tool 6, the first branch, the second branch and the 3rd branch point
Other connect base 1 and support 2, the first branch include the first revolute pair 21, the rotation of first connecting rod 11, second being sequentially connected
Pair 22, second connecting rod 12, the 3rd revolute pair 23, third connecting rod 13, the revolute pair 24 of fourth link 14 and the 4th, the He of third connecting rod 13
The forming sleeves structure of fourth link 14, third connecting rod 13 are slide bar, and fourth link 14 is sliding sleeve, the connecting bracket of the first revolute pair 21
2, the connect base 1 of the 4th revolute pair 24.The 9th revolute pair 41 that 3rd branch includes being sequentially connected, the 9th connecting rod 31, the
Ten revolute pairs 42, the tenth connecting rod 32 and spherical pair 51, the connecting bracket 2 of the 9th revolute pair 41, the connect base 1 of spherical pair 51.
Second revolute pair axis and the 3rd revolute pair diameter parallel and perpendicular to the first revolute pair axis and the 4th rotate
Secondary axis, the 9th revolute pair axis and the tenth revolute pair diameter parallel and perpendicular to the first revolute pair axis.
Spherical pair is universal joints structure.Manipulator is symmetrical, i.e., in the presence of a plane, all element phases of manipulator
It is symmetrical to the plane.
Second revolute pair 22, the 3rd revolute pair 23, the 4th revolute pair 24, the 9th revolute pair 41, the tenth revolute pair 42 are wrapped
Company's part with pin-and-hole in U-shaped part, bearing pin and insertion U-shaped part opening is included, U-shaped part is connected with even part by bearing pin.
First revolute pair 21 includes sleeve 3 and is arranged on the outer peripheral face of sleeve 3 and the revolving part that can be rotated around sleeve 3, rotation
Part connects the rod end of first connecting rod 11, and sleeve 3 is hollow cylinder-shaped sleeve.
Support 2 is platform-like support, and sleeve 3 is fixedly connected with the lower surface of support 2, and the U-shaped frame of the 9th revolute pair 41 is fixed
The side of connecting bracket 2.
Operation motor 5 is arranged at the upper surface of support 2, and the drive surgical tools 6 of motor 5 of performing the operation, operation tool 6 is arranged at sleeve
In 3, the pivot center of operation tool 6 and the first revolute pair axis collinear.
In original state, for the pivot center of operation tool 6 by point O, point O is the friendship of the axis of two the 4th revolute pairs 24
Point.Operation tool 6 is generally laparoscopic instrument（Refer specifically to incision knife, elastic separating plier, flusher, endoscope etc.）, and work of performing the operation
The lower section of base 1 is stretched into the lower end of tool 6 after passing through the middle part white space of base 1.
The partial structural diagram of embodiment of the present utility model 1 as shown in Figure 2, manipulator position, under support 2
Surface is connected with sleeve 3, and sleeve 3 is hollow cylindrical sleeve, and sleeve 3 is a component parts of the first revolute pair 21.The upper table of support 2
Face connection operation motor 5, operation motor 5 connect operation tool 6, and the operation drive surgical tools 6 of motor 5 rotate.One of support 2
Side connects revolving member 4, and revolving member 4 is a component parts of the 9th revolute pair 41.
Working method schematic diagram of the present utility model as shown in Figure 4, human body otch 7 are placed with puncture cannula 8（English
Trocar）, operation tool 6 pass through puncture cannula 8 after enter human body；Operation tool 6 is carried out under the driving of three branches
Motion, including using incision site 7 as the swing of origin and along the flexible of the axis direction of operation tool 6, operation tool 6 is also
It can be rotated in the case where operation motor 5 drives.
Second revolute pair 22, the 3rd revolute pair 23, the 4th revolute pair 24, the 9th revolute pair 41, the tenth revolute pair 42, sleeve pipe
Structure and three moving sets 103 respectively connect a servomotor（Do not indicated in figure）.
Embodiment of the present utility model 2 as shown in Figure 3, embodiment 2 differ only in the 3rd branch's machine with embodiment 1
Structure, it is specially：3rd branch includes the 9th revolute pair 41, the 9th connecting rod 31, the tenth connecting rod 32 and the sphere being sequentially connected
Pair 51, the 9th connecting rod 31 and the tenth connecting rod 32 form shift sleeve structure, and the 9th connecting rod 31 is slide bar, and the tenth connecting rod 32 is sliding sleeve.Will
Tenth revolute pair 42 replaces with shift sleeve structure so that the displacement of operation tool 6 is more accurate.
Claims (10)
1. a kind of medical manipulator, including annular base (1), it is positioned above base (1) and passes through base (1) downwards
For Minimally Invasive Surgery manipulator and be connected in parallel between base and surgical modules and be used for control machinery hand module institute
Locate the branch of position, the branch includes first, second, and third branch, first, second branch pair
Claim to set, it is characterised in that
First and second described branch respectively include be sequentially connected the first revolute pair (21), first connecting rod (11), second
Revolute pair (22), second connecting rod (12), the 3rd revolute pair (23), third connecting rod (13), fourth link (14) and the 4th revolute pair
(24), the first revolute pair (21) connection manipulator, the 4th revolute pair (24) connect base (1)；
3rd branch include be sequentially connected the 9th revolute pair (41), the 9th connecting rod (31), the tenth connecting rod (32) and
Spherical pair (51), the 9th revolute pair (41) connect manipulator, spherical pair (51) connect base (1).
2. a kind of medical manipulator as claimed in claim 1, it is characterised in that the 3rd branch also includes the tenth
Revolute pair (42), the 9th connecting rod (31) and the tenth connecting rod (32) are connected by the tenth revolute pair (42).
3. a kind of medical manipulator as claimed in claim 1, it is characterised in that the 9th connecting rod (31) and the tenth connecting rod
(32) liftable sleeve structure is formed, the 9th connecting rod (31) is slide bar, and the tenth connecting rod (32) is sliding sleeve.
4. a kind of medical manipulator as claimed in claim 2 or claim 3, it is characterised in that the third connecting rod (13) and the 4th
Connecting rod (14) forms liftable sleeve structure, and the third connecting rod (13) is slide bar, and the fourth link (14) is sliding sleeve.
5. a kind of medical manipulator as claimed in claim 4, it is characterised in that the second revolute pair (22) axis and the
Three revolute pairs (23) diameter parallel and perpendicular to the first revolute pair (21) axis and the 4th revolute pair (24) axis, the described 9th
Revolute pair (41) axis and the tenth revolute pair (42) diameter parallel and perpendicular to the first revolute pair (21) axis.
A kind of 6. medical manipulator as claimed in claim 4, it is characterised in that second revolute pair (22), the 3rd turn
Dynamic pair (23), the 4th revolute pair (24), the 9th revolute pair (41), the tenth revolute pair (42) include U-shaped part, bearing pin and insertion U
Company's part with pin-and-hole in shape part opening, the U-shaped part are connected with even part by bearing pin.
7. a kind of medical manipulator as claimed in claim 4, it is characterised in that first revolute pair (21) includes sleeve
(3) and it is arranged on sleeve (3) outer peripheral face and first connecting rod (11) can be connected around the revolving part of sleeve (3) rotation, the revolving part
Rod end, the sleeve (3) is hollow cylinder-shaped sleeve.
8. a kind of medical manipulator as claimed in claim 7, it is characterised in that the manipulator includes platform-like branch
Frame (2), the sleeve (3) are fixedly connected with the lower surface of support (2), and the U-shaped frame of the 9th revolute pair (41) is fixedly connected with branch
The side of frame (2).
9. a kind of medical manipulator as claimed in claim 8, it is characterised in that the manipulator also includes operation electricity
Machine (5) and operation tool (6), the operation motor (5) are arranged at support (2) upper surface, operation motor (5) the driving operation
Instrument (6), the operation tool (6) pass through sleeve (3), the pivot center and the first revolute pair (21) of the operation tool (6)
Axis collinear.
A kind of 10. medical manipulator as claimed in claim 4, it is characterised in that second revolute pair (22), the 3rd turn
Dynamic pair (23), the 4th revolute pair (24), the 9th revolute pair (41), the tenth revolute pair (42), sleeve structure and three moving sets
(103) servomotor is respectively connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720350708.9U CN206643910U (en) | 2017-04-05 | 2017-04-05 | A kind of medical manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720350708.9U CN206643910U (en) | 2017-04-05 | 2017-04-05 | A kind of medical manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206643910U true CN206643910U (en) | 2017-11-17 |
Family
ID=60275358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720350708.9U Expired - Fee Related CN206643910U (en) | 2017-04-05 | 2017-04-05 | A kind of medical manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206643910U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890618A (en) * | 2018-03-05 | 2018-11-27 | 深圳智触计算机***有限公司 | A kind of tactile sensing device of robot's simulation operations arm based on mixed structure 6DOF |
-
2017
- 2017-04-05 CN CN201720350708.9U patent/CN206643910U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890618A (en) * | 2018-03-05 | 2018-11-27 | 深圳智触计算机***有限公司 | A kind of tactile sensing device of robot's simulation operations arm based on mixed structure 6DOF |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171117 Termination date: 20180405 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |