CN207627404U - A kind of remote centre of motion mechanism for Minimally Invasive Surgery - Google Patents
A kind of remote centre of motion mechanism for Minimally Invasive Surgery Download PDFInfo
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- CN207627404U CN207627404U CN201720346830.9U CN201720346830U CN207627404U CN 207627404 U CN207627404 U CN 207627404U CN 201720346830 U CN201720346830 U CN 201720346830U CN 207627404 U CN207627404 U CN 207627404U
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- minimally invasive
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Abstract
The utility model discloses a kind of remote centre of motion mechanisms for Minimally Invasive Surgery, belong to Minimally Invasive Surgery equipment technical field.The micro-wound operation robot volume of the prior art is larger, complicated, control is cumbersome, costly, when promoting and applying also by more limitation, requires further improvement.The utility model mechanism includes installing pedestal, moving platform, surgical instrument installation part and three branches of three branches, and the branch upper end is connected with moving platform, and lower end is movably connected in by kinematic pair in circular ring shape base；Adjacent connecting rod is connected by kinematic pair in each branch, at least one branch is connected with circular ring shape base by universal joint, at least one branch is connected with circular ring shape base by ball pair.Using ball, secondary, gimbal structure makes entire organization volume small to the utility model, and compact-sized, control is simple, at low cost.
Description
Technical field
The utility model is related to a kind of remote centre of motion mechanisms for Minimally Invasive Surgery, belong to Minimally Invasive Surgery equipment and technology
Field.
Background technology
Minimally Invasive Surgery cuts open the chest to have the following advantages that compared with operation with traditional：Notch is small, and damage is light, safely and effectively, can be with
Avoid internal organs exposure in air to reduce infection；The postoperative pain of patient can be reduced, patients ' recovery is very fast and can be
Postoperative to restore normal activity in a short time, therapeutic effect is equal to or higher than traditional surgery method；Postoperative wound compares conventional surgical
Operation is beautiful, and 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 come into being.Computer Motion companies of the U.S. grind within 1994
The endoscope automatic station-keeping system i.e. AESOP robots that First assists Minimally Invasive Surgery are made, it uses cascaded structure；1998
ZEUS Minimally Invasive Surgery operation robots are released, which uses master-slave operation technology；Da Vinci system developments success in 2000
And becoming the first legal commercialization operating robot allowed in Clinical practice through U.S. FDA approval July current year, it is
Through being used for clinic and obtaining good effect.
But it since existing micro-wound operation robot volume is larger, complicated, control is cumbersome, costly, is promoting
Using when also by more limitation, require further improvement.For drawbacks described above present in currently available technology, it is really necessary to
It is researched and developed, solves defect existing in the prior art.
Utility model content
In view of the drawbacks of the prior art, the purpose of this utility model is to provide a kind of small, compact-sized, control letters
A kind of single, at low cost remote centre of motion mechanism for Minimally Invasive Surgery.
To achieve the above object, the technical solution of the utility model is：
A kind of remote centre of motion mechanism for Minimally Invasive Surgery, including the installation of circular ring shape base, moving platform, surgical instrument
Part and three branches, the branch upper end are connected with moving platform, and lower end is movably connected in annulus by kinematic pair
On shape pedestal；Adjacent connecting rod is connected by kinematic pair in each branch, at least one branch with
Circular ring shape base is connected by universal joint, at least one branch is connected with circular ring shape base by ball pair.Three
What Zhong Liangge branches of branch were connected with circular ring shape base is universal joint.What one branch was connected with circular ring shape base is
Ball pair is effectively increased the scope of activities of the utility model, makes entire organization volume small using structures such as ball pair, universal joints, knot
Structure is compact, and control is simple, at low cost.
Further, the moving platform is equipped with for making the motor of surgical instrument installation part rotation and being used for minimally invasive
The surgical instrument installation part of operation.
Further, three branches, which are distributed at equal intervals in circular ring shape base and respectively with moving platform, is connected
It connects, control moving platform movement.
Further, at least two branches in three branches include being sequentially connected to from top to bottom
The first revolute pair, first connecting rod, the second revolute pair between moving platform and pedestal, the second connecting rod as sliding pair slide bar, work
Third connecting rod, the universal joint that is connected with pedestal for sliding pair sliding sleeve.Connecting rod used in the utility model is fewer, and branch is more
Step up to gather, the kinematics solution of mechanism is more simple, and control is more simple and effective, and required processing part is fewer, convenient for saving
Cost.
Further, the second revolute pair axis and revolute pair axis of the universal joint far from circular ring shape base it is parallel to each other and
Perpendicular to the first revolute pair axis and sliding pair moving direction.
Further, universal joint includes U-shaped part, the key seat that is fixed on pedestal and is plugged with U-shaped part, key seat
Pin.
Further, a branch in three branches includes being sequentially connected to dynamic put down from top to bottom
Third revolute pair, fourth link, the 4th revolute pair, the 5th connecting rod, ball pair between platform and pedestal.Three branches of the utility model
There are 5 degree of freedom in mechanism, and two of which branched structure is identical, and three branches apply a constraint to moving platform respectively
Power, three restraining forces constrain 2 one-movement-freedom-degrees and a rotational freedom of moving platform, so the mechanism parallel connection part
Degree of freedom is 2 rotations, 1 one-movement-freedom-degree.It can be effectively increased the flexibility ratio of the utility model, complete more complicated operation
Operation.
Further, select sliding pair secondary as driving, drive it is secondary corresponding driving source be set driven, sliding pair away from
More closely it is arranged from moving platform, the power transmission performance higher of such mechanism, when selecting same driving source, the utility model can be with
The load of bigger is carried, the performance of mechanism is more excellent.
The driving source can be servo motor, stepper motor, preferably servo motor, Serve Motor Control program letter
It is single, its rotation amount can be accurately controlled, and then the kinematic accuracy of the utility model can be effectively improved.
Further, the lower end of surgical instrument installation part connects operation tool, is stretched by the central cavity of circular ring shape base
Enter below circular ring shape base；The axis co-axial of the pivot center of surgical instrument installation part and the annular groove of the first revolute pair and logical
Cross O points.
Further, the incision site of human body is placed with puncture cannula, and operation tool stretches into after passing through puncture cannula in human body；
The movement of three branches control operation tool includes swing using incision site as origin, along surgical instrument
Installation part axis direction stretches, and the rotation under motor driving.The utility model not only meets the requirement of Minimally Invasive Surgery,
And injury of the reduction to notch, safety are higher.
Compared with prior art, the utility model has the advantages that：
1. the utility model is mixed connection mechanism, each branch is five degree of freedom, the rotation and steering of branch
It is more flexible, reach requirement of the rotation without dead angle；Three common drive surgical tools of branch moved not only ensure compared with
High rigidity, and move cumulative errors and be less than serial mechanism, improve operation precision.
2. the utility model not only meets the requirement of Minimally Invasive Surgery, but also reduces the injury to notch, safety is higher.
3. the utility model makes entire organization volume small using ball auxiliary structure, compact-sized, control is simple, at low cost.
4. the utility model can be used as the simulation surgical instrument of teaching, training；Therefore, the utility model is minimally invasive for improving
The further genralrlization of operation is of great significance.
5. connecting rod used in the utility model is fewer, branch is compacter, and the kinematics solution of mechanism is more simple
Single, control is more simple and effective, and required processing part is fewer, convenient for saving cost.The singular point of mechanism typically occurs in point
The situation that branch connecting rod axis overlaps, connecting rod is less, therefore the singular point of mechanism is few than before, facilitates mechanism controls, improves hand
The safety of art.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is a kind of branch's schematic diagram of the utility model；
Fig. 3 is the utility model another kind branch schematic diagram；
Fig. 4 is the sliding pair structural schematic diagram of the utility model；
Fig. 5 is the structural schematic diagram of the utility model another kind embodiment；
Fig. 6 is utility model works status diagram.
Reference sign：
In figure：11- first connecting rods；12- second connecting rods；13- third connecting rods；The first revolute pairs of 21-；The second revolute pairs of 22-；
23- sliding pairs；24- universal joints；31- fourth links；The 5th connecting rods of 32-；41- third revolute pairs；The 4th revolute pairs of 42-；43-
Ball pair；5- circular ring shape bases；51- central cavities；6- moving platforms；7- operation tools；8- motors；9- incision sites；10- punctures set
Pipe.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
On the contrary, the utility model cover it is any be defined by the claims do in the spirit and scope of the utility model
Replacement, modification, equivalent method and scheme.Further, right below in order to make the public have a better understanding the utility model
It is detailed to describe some specific detail sections in the datail description of the utility model.Do not have for a person skilled in the art
The description of these detail sections can also understand the utility model completely.
As shown in Figs 1-4, a kind of remote centre of motion mechanism for Minimally Invasive Surgery, including circular ring shape base 5, moving platform
6, surgical instrument installation part and three branches, the branch upper end are connected with moving platform 6, and lower end passes through kinematic pair
It is movably connected in circular ring shape base 5；Adjacent connecting rod is connected by kinematic pair in each branch, at least
One branch is connected with circular ring shape base 5 by universal joint 24, at least one branch is logical with circular ring shape base 5
Ball pair 43 is crossed to be connected.
The moving platform 6 is equipped with the motor 8 for being used to make the rotation of surgical instrument installation part and for Minimally Invasive Surgery
Surgical instrument installation part.Three branches, which are distributed at equal intervals in circular ring shape base 5 and respectively with moving platform 6, to be connected
It connects, control moving platform 6 moves.
A branch in three branches includes being sequentially connected to moving platform 6 and pedestal from top to bottom
Between third revolute pair 41, fourth link 31, the 4th revolute pair 42, the 5th connecting rod 32, ball pair 43.Three branch's machines
Liang Ge branches in structure include the first revolute pair 21, first being sequentially connected to from top to bottom between moving platform 6 and pedestal
Connecting rod 11, the second revolute pair 22, as the second connecting rod 12 of 23 slide bar of sliding pair, as the third connecting rod of 23 sliding sleeve of sliding pair
13, the universal joint 24 being connected with pedestal.
As shown in figure 5, another specific embodiment of the utility model, described three branches include from top to bottom
Be sequentially connected to the first revolute pair 21 between moving platform 6 and pedestal, first connecting rod 11, the second revolute pair 22, as sliding pair
The second connecting rod 12 of 23 slide bars, the third connecting rod 13 as 23 sliding sleeve of sliding pair, the universal joint 24 that is connected with pedestal.Second rotation
Secondary 22 axis are parallel to each other with revolute pair axis of the universal joint 24 far from circular ring shape base 5 and perpendicular to 21 axis of the first revolute pair
Line and sliding pair moving direction.Universal joint 24 includes U-shaped part, the key seat being fixed on pedestal and is plugged with U-shaped part, key seat
Pin.
The lower end of surgical instrument installation part connects operation tool 7, and annulus is stretched by the central cavity 51 of circular ring shape base 5
5 lower section of shape pedestal；The axis co-axial of the pivot center of surgical instrument installation part and the annular groove of the first revolute pair 21 and pass through O
Point.
As shown in fig. 6, the incision site 9 of human body is placed with puncture cannula 10, operation tool 7 stretches into after passing through puncture cannula 10
In human body；The movement of three branches control operation tool 7, include swing using incision site 9 as origin, along
Surgical instrument installation part axis direction stretches, and the rotation under the driving of motor 8.
It selects sliding pair to be used as driving secondary, drives the secondary corresponding driving source of setting to be driven, the driving source can be
Servo motor, stepper motor, preferably servo motor, Serve Motor Control program is simple, can accurately control its rotation amount,
And then the kinematic accuracy of the utility model can be effectively improved.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (6)
1. a kind of remote centre of motion mechanism for Minimally Invasive Surgery, including circular ring shape base（5）, moving platform（6）, surgical instrument
Installation part and three branches, which is characterized in that the branch upper end and moving platform（6）It is connected, lower end passes through fortune
Dynamic pair is movably connected in circular ring shape base（5）On；Adjacent connecting rod is connected by kinematic pair in each branch,
At least one branch and circular ring shape base（5）Pass through universal joint（24）It is connected, at least one branch and circle
Annular base（5）Pass through ball pair（43）It is connected；
At least two branches in three branches include being sequentially connected to moving platform from top to bottom（6）The bottom of with
The first revolute pair between seat（21）, first connecting rod（11）, the second revolute pair（22）, as sliding pair（23）The second of slide bar connects
Bar（12）, as sliding pair（23）The third connecting rod of sliding sleeve（13）, the universal joint that is connected with pedestal（24）；Second revolute pair（22）
Axis and universal joint（24）Far from circular ring shape base（5）Revolute pair axis it is parallel to each other and perpendicular to the first revolute pair（21）
Axis and sliding pair moving direction.
2. a kind of remote centre of motion mechanism for Minimally Invasive Surgery as described in claim 1, which is characterized in that universal joint
（24）Including U-shaped part, the key seat being fixed on pedestal and the pin plugged with U-shaped part, key seat.
3. a kind of remote centre of motion mechanism for Minimally Invasive Surgery as described in claim 1-2 is any, which is characterized in that institute
A branch in three branches stated includes being sequentially connected to moving platform from top to bottom（6）Between pedestal
Three revolute pairs（41）, fourth link（31）, the 4th revolute pair（42）, the 5th connecting rod（32）, ball pair（43）.
4. a kind of remote centre of motion mechanism for Minimally Invasive Surgery as claimed in claim 3, which is characterized in that select sliding
Pair is used as driving secondary, and the secondary corresponding driving source of setting is driven to be driven.
5. a kind of remote centre of motion mechanism for Minimally Invasive Surgery as claimed in claim 4, which is characterized in that surgical instrument
The lower end of installation part connects operation tool（7）, pass through circular ring shape base（5）Central cavity（51）Stretch into circular ring shape base（5）
Lower section；The pivot center of surgical instrument installation part and the first revolute pair（21）Annular groove axis co-axial and pass through O points.
6. a kind of remote centre of motion mechanism for Minimally Invasive Surgery as claimed in claim 5, which is characterized in that human body is cut
Mouth position（9）It is placed with puncture cannula（10）, operation tool（7）Across puncture cannula（10）After stretch into human body；Described three points
Branch mechanism controls operation tool（7）Movement, including with incision site（9）It is installed as the swing of origin, along surgical instrument
Part axis direction stretches, and in motor（8）Rotation under driving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720346830.9U CN207627404U (en) | 2017-04-05 | 2017-04-05 | A kind of remote centre of motion mechanism for Minimally Invasive Surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720346830.9U CN207627404U (en) | 2017-04-05 | 2017-04-05 | A kind of remote centre of motion mechanism for Minimally Invasive Surgery |
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| Publication Number | Publication Date |
|---|---|
| CN207627404U true CN207627404U (en) | 2018-07-20 |
Family
ID=62860472
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720346830.9U Expired - Fee Related CN207627404U (en) | 2017-04-05 | 2017-04-05 | A kind of remote centre of motion mechanism for Minimally Invasive Surgery |
Country Status (1)
| Country | Link |
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| CN (1) | CN207627404U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994045A (en) * | 2017-04-05 | 2017-08-01 | 浙江机电职业技术学院 | A kind of remote centre of motion mechanism for Minimally Invasive Surgery |
-
2017
- 2017-04-05 CN CN201720346830.9U patent/CN207627404U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994045A (en) * | 2017-04-05 | 2017-08-01 | 浙江机电职业技术学院 | A kind of remote centre of motion mechanism for Minimally Invasive Surgery |
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| 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: 20180720 Termination date: 20190405 |
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| CF01 | Termination of patent right due to non-payment of annual fee |