CN101889900A - Master-slave integrated mechanical arm for assisting minimally invasive surgery - Google Patents
Master-slave integrated mechanical arm for assisting minimally invasive surgery Download PDFInfo
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- CN101889900A CN101889900A CN2010102232537A CN201010223253A CN101889900A CN 101889900 A CN101889900 A CN 101889900A CN 2010102232537 A CN2010102232537 A CN 2010102232537A CN 201010223253 A CN201010223253 A CN 201010223253A CN 101889900 A CN101889900 A CN 101889900A
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- 238000002324 minimally invasive surgery Methods 0.000 title abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims description 31
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 210000002478 hand joint Anatomy 0.000 abstract 6
- 230000008859 change Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009411 base construction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009931 harmful effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000009017 pursuit movement Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
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Abstract
The invention discloses a master-slave integrated mechanical arm for assisting minimally invasive surgery. A master operating end of the mechanical arm comprises a master hand joint I seat provided with a rotatable master hand joint I shaft; the output end of the master hand joint I shaft is connected with a master hand joint II seat; the master hand joint II seat is internally provided with a rotatable master hand joint II shaft which is fixed with a telescopic frame; an upper telescopic seat is connected with a lower telescopic seat by a linear mechanism; a slave operating end comprises a base part connected with the master operating end, a driving mechanical arm part connected with the base part and a telescopic part installed on the driving mechanical arm. A tool clamping end comprises a surgical instrument seat installed on a slide block of a slave hand telescopic part; the upper surface and the lower surface of the surgical instrument seat are respectively fixedly connected with two ends of a transmission screw and can move in a straight line along the guide rail of the slave hand telescopic seat under the traction of the transmission screw. By utilizing the device, the system structure is simplified and the system volume and the failure rate are reduced.
Description
Technical field
The present invention relates to the armarium in a kind of micro-wound surgical operation field, it can the auxiliary doctor of clamping operation tool implement the Minimally Invasive Surgery operation.
Background technology
Be that the minimally invasive surgery of representative is described as 20th century medical sciencies to one of significant contribution of human civilization with the peritoneoscope, the Minimally Invasive Surgery operation is meant that the doctor utilizes the miniature incision of elongated operation tool by human body surface to be insinuated into the operation that undergos surgery in the body.It is compared with traditional open surgery has advantages such as operative incision is little, amount of bleeding is few, scar after the operation is little, recovery time is fast, and this misery that makes patient suffer significantly reduces; Therefore minimally invasive surgery is widely used in clinical operation.Yet when Minimally Invasive Surgery had brought many interests for patient, but the operation to the doctor had brought a series of difficulties, as: 1) owing to the restriction of body surface aperture, the degree of freedom of instrument is reduced to four, and motility reduces greatly; 2) doctor's direction of operating is opposite with desired direction, inaccurate coordination; 3) doctor can only obtain surgical scene information by the two dimensional image on the monitor, lacks the sensation on the depth direction; 4) shake of doctor's hand may be amplified by elongated operation tool, and operation is caused harmful effect; 5) lack force feeling.Therefore, the doctor must have been trained for a long time and can carry out the Minimally Invasive Surgery operation, and even so, Minimally Invasive Surgery also only is applied among the relatively simple operation process of operation at present.Therefore, in the Minimally Invasive Surgery field, press for the ability that a kind of robot system is extended the doctor,, make the doctor can easierly finish the Minimally Invasive Surgery operation so that overcome above-mentioned shortcoming.At present, the minimally invasive surgical operation robot system that can use clinically has only Da Vinci system and Zeus system, but they all have the shortcoming of complex structure, bulky, aspect such as cost an arm and a leg.All carry out the research of minimally invasive surgical operation robot in succession as the U.S., France, Germany, Britain, Poland, Japan, Korea S and other places in the world, and produced a series of model machines.China still is in the starting stage aspect robotic assisted surgery, the robot system that has existed can only play assist location in operation process, can not be applied to clinical operation.Therefore develop the novel minimally invasive surgical operation robot system that a cover has independent intellectual property right and very important meaning is arranged filling up the blank of China in this field.
Summary of the invention
The object of the present invention is to provide the master-slave integrated mechanical arm of assisted minimally invasive surgical operation, carry out the doctor operating side of robot and the arm of operating machine of robot integrated, simplify the complexity of structure, volume and the control system of master-slave minimally-invasive surgery robot, and then helped guaranteeing the safety of performing the operation.
It comprises the main operation end master-slave integrated mechanical arm of assisted minimally invasive surgical operation of the present invention, from the operating side, the tool holding end, described main operation end comprises that it is provided with the main joints of hand Building I of rotatable main joints of hand I axle, the outfan of main joints of hand I axle with its in be provided with rotatable main joints of hand II axle main joints of hand II seat link to each other, the setting that is perpendicular to one another of the axis of described main joints of hand I axle and main joints of hand II axle, pick off I, the handle of turning round of II is connected on main joints of hand I axle and the main joints of hand II axle by shaft coupling respectively, be fixed with expansion bracket on described main joints of hand II axle, the base of described expansion bracket and the top at the flexible seat of honour are fixedly linked; The described flexible seat of honour links to each other with flexible following by straight-line motion mechanism so that described stretching following can move up and down with respect to the flexible seat of honour and write down described moving up and down by pick off V, described flexible following rotating shaft that vertically is provided with by axis and one are rotatedly connected from swivel base, its axis and the vertically disposed yawing axis of described shaft axis are installed in described on swivel base, the handle of turning round of pick off III and pick off IV is connected rotating shaft by shaft coupling respectively, on the yawing axis, on described yawing axis, be connected with the folding seat, folding lobe I and folding lobe II are installed on the folding seat, folding lobe I, link to each other by two connecting rods between the folding lobe II, link to each other by connecting axle between described two connecting rods and described connecting axle is inserted in the fluting that is connected the rectilinear transducer on the folding seat; The described base part that links to each other successively that comprises from the operating side, active mechanical arm portion and telescopic section, described base part includes pedestal, one end of described pedestal links to each other with a side end face of main joints of hand Building I and its other end is fixedly connected with from the joints of hand Building I, described be equipped with in the joints of hand Building I link to each other with the output shaft of motor I from joints of hand I axle, describedly be provided with passive joint face from the joints of hand Building I, described active mechanical arm portion comprise be fixedly linked from the outfan of joints of hand I axle from joints of hand II seat, silk wheel I and silk wheel II be symmetric be fixedly connected on from the both sides of joints of hand II seat and the axis of silk wheel I and silk wheel II along with direction setting from the output shaft axis normal of joints of hand I axle, its axis is installed on from joints of hand II seat along the driving shaft II with the setting of silk wheel I axis equidirectional, its axis is installed on from joints of hand II seat by bearing along the driving shaft I with the setting of silk wheel I axis normal direction, described driving shaft I links to each other with motor II by shaft coupling, and the handle of turning round of pick off IV links to each other with driving shaft I; Between described driving shaft I and driving shaft II, be connected with driving wire I; Two outfans of described driving shaft II are fixedly linked with two flange faces that are arranged on from the hands connecting rod I lower end respectively, there are three branches described upper end from hands connecting rod I, the silk wheel III and the silk wheel IV that wherein are provided with bearing in the centre bore are fixedly connected on from the upper end medial fascicle of hands connecting rod I, be provided with and be installed on the concentric bearing of bearing on silk wheel III and the silk wheel IV from the both sides branch of hands connecting rod I, be fixedly connected on silk wheel V from hands connecting rod II one end, silk wheel VI links to each other with bearing by the back shaft that is provided with in its axle center respectively, connecting rod II output shaft is installed on from the other end of hands connecting rod II by bearing, silk wheel VII, silk wheel VIII is fixedly connected on the connecting rod II output seat, connecting rod II output seat is fixedly linked with connecting rod II output shaft, the end of driving wire II and driving wire III is individually fixed in silk wheel I, in the silk groove of silk wheel II, after serial directive wheel and regulating wheel transmission, the other end is individually fixed in the silk groove of silk wheel V and silk wheel VI, the end of driving wire IV and driving wire V is individually fixed in the silk groove of silk wheel III and silk wheel IV, after directive wheel and regulating wheel transmission, the other end is individually fixed in the silk groove of silk wheel VII and silk wheel VIII, is fixedly linked from flexible seat of hands and connecting rod II output seat; Be provided with guide rail from the flexible seat of hands, on described guide rail slide block be installed, tool holding end and slide block are fixedly linked, and described slide block slides on described guide rail by drive mechanism.
The master-slave integrated mechanical arm of assisted minimally invasive surgical operation of the present invention compared with prior art has following beneficial effect:
1. mechanical arm of the present invention is with the main operation end of master-slave mode robot and carried out integratedly from the operating side, has simplified system structure, has reduced system bulk, and then has helped saving cost, has reduced fault rate;
2. the silk running part of the active mechanical arm portion of mechanical arm of the present invention is the key link of system, and therefore design is gone up each transmission link and is provided with two cocainines, has guaranteed mechanical arm safety in the use;
3. the robot system of the present invention's structure can be used in combination with present traditional laparoscopic device of extensive use, can make full use of existing resource, reduces the operation cost.
Description of drawings
Fig. 1 is the master-slave integrated mechanical arm schematic diagram of assisted minimally invasive surgical operation of the present invention;
Fig. 2 is the master-slave integrated mechanical arm overall structure sketch map of assisted minimally invasive surgical operation of the present invention;
Fig. 3, Fig. 4 are the main operation end parts of the master-slave integrated mechanical arm of assisted minimally invasive surgical operation of the present invention;
Fig. 5 be assisted minimally invasive surgical operation of the present invention master-slave integrated mechanical arm from the operating side part;
Fig. 6 is the base construction sketch map from the operating side part shown in Figure 5;
Fig. 7,8,9,10 and 11 is structural representations of active mechanical arm portion from the operating side part shown in Figure 5;
Figure 12 is the telescopic section structural representation from the operating side part shown in Figure 5;
Figure 13 is the structural representation of the drive mechanism of telescopic section shown in Figure 12;
Figure 14 has described the minimally-invasive surgery robot system general illustration based on mechanical arm of the present invention.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done to describe in detail.
As shown in Figure 1, be schematic diagram of the present invention, 601 two large divisions form by main operation end 600 with from the operating side.Main operation end joint I500 and from joint, operating side I501 conllinear is positioned at main operation end joint I500 and from the straight line at the axis place of joint, operating side I501 with main operation end joint I500 with from the vertical main operation end joint II502 of joint, operating side I501 with from joint, operating side II503.Constitute two parallel-crank mechanisms from joint, operating side II503 and other 6 rotary motion pairs, this mechanism makes operation tool axis 509 pass through a fixing point 510 all the time in motor process.Like this, the joint motions signal of main operation end 600 directly is passed to 601 its each joint motions of control from the operating side, the direction of motion that can make main operation end reference point 505 is with in full accord from the direction of motion of operating side reference point I507,504 are main operation end reference point post exercise position, and 506 is from reference point II post exercise position, operating side.Robot based on present principles does not need complicated motion control arithmetic in control, help reducing the complexity of robot, and reduces the fault rate of system.Will be from the operating side 601 parallel-crank mechanism realize with the silk kind of drive, help reducing the volume and weight of system, and can reduce system's processing and manufacturing difficulty, specific implementation see below continue bright.
Figure 2 shows that population structure sketch map of the present invention, by main operation end 1, from the operating side 2 and tool holding end 3 three parts form.
Fig. 3, Fig. 4 are the sketch map of main operation end I of the present invention.Described main operation end 1 comprises that it is provided with the main joints of hand Building I 100 of rotatable main joints of hand I axle 102, the outfan of main joints of hand I axle 102 with its in be provided with rotatable main joints of hand II axle 105 main joints of hand II seat 103 link to each other, the setting that is perpendicular to one another of the axis of described main joints of hand I axle 102 and main joints of hand II axle 105, the handle of turning round of pick off I101, II104 is connected on main joints of hand I axle 102 and the main joints of hand II axle 105 by shaft coupling respectively.Pick off I101, II104 write down main joints of hand I axle 102 respectively and reach the movable information of main joints of hand II axle 105 in main joints of hand II seat 103 in main joints of hand Building I 100.Be fixed with expansion bracket 106 on described main joints of hand II axle, the top at the base of described expansion bracket 106 and the flexible seat of honour 107 is fixedly linked; The described flexible seat of honour 107 links to each other with flexible following 108 by straight-line motion mechanism so that described stretching following 108 can move up and down with respect to the flexible seat of honour 107 and write down described moving up and down by pick off V121, described flexible following 108 rotating shaft that vertically is provided with by axis and one are rotatedly connected from swivel base 114, the vertically disposed yawing axis 116 of its axis and described shaft axis is installed in described on swivel base 114, the handle of turning round of pick off III113 and pick off IV115 is connected rotating shaft by shaft coupling respectively, on the yawing axis 116, on described yawing axis 116, be connected with folding seat 118, folding lobe I124 and folding lobe II125 are installed on the folding seat 118, folding lobe I124, link to each other by two connecting rods between the folding lobe II125, link to each other by connecting axle between described two connecting rods and described connecting axle is inserted in the fluting of the rectilinear transducer 117 that is connected on the folding seat.Folding lobe I124, folding lobe II125 can realize open and close movement on folding seat 118, rectilinear transducer 117 can be used to write down the information of this motion.Like this when the doctor split sympetalous I124, when folding lobe II124 operates, main operation end 1 just can write down doctor's movable information, and is passed to from the operating side 2 and tool holding end 3 after this information handled by control system, in order to realize the assisted surgery operation.
Described straight-line motion mechanism preferably comprises last rotating shaft I119 and the last rotating shaft II120 that the coplane that is installed on the flexible seat of honour 107 and axis intersect each other, the end of last connecting rod I109 and last rotating shaft I119 are rotatedly connected, the end of last connecting rod II110 and last rotating shaft II120 are rotatedly connected, the other end of last connecting rod I109 and middle rotating shaft I122 are rotatedly connected, the other end of last connecting rod II110 and middle rotating shaft II123 are rotatedly connected, the end of lower link I111 links to each other with middle rotating shaft I122, the axis of middle rotating shaft I122 parallels with last rotating shaft I119 axis, the end of lower link II112 links to each other with middle rotating shaft II123, rotating shaft II123 parallels with last rotating shaft II120 axis in the middle of described, and the other end of lower link I111 and lower link II112 is respectively by being installed in the following rotating shaft I126 on flexible following 108, following rotating shaft II127 links to each other with flexible following 108; The axis of the axis of following rotating shaft I126 and following rotating shaft II127 parallels setting with the axis of last rotating shaft I119 and the axis of last rotating shaft II120 respectively, and the handle of turning round of pick off V121 links to each other by shaft coupling with last rotating shaft II120.By the flexible seat of honour 107, go up rotating shaft I119, go up rotating shaft II120, go up connecting rod I109, go up connecting rod II110, middle rotating shaft I122, middle rotating shaft II123, lower link I111, lower link II112, flexible following 108 mechanisms that constituted make flexible following 108 with respect to the seat of honour 107 of stretching only exist one close or away from the rectilinear motion degree of freedom; This motion mode also can be realized by guide rail-slide block mechanism or spline-urceolus mechanism.By the information of pick off V121, can calculate flexible following 108 movable information with respect to the flexible seat of honour 107.
Be installed on can rotate from swivel base 114 on flexible following 108 by bearing on flexible following 108, pick off III113 can be used for writing down the information of this motion; Can move on swivel base 114 by the bearing installation and from the yawing axis on the swivel base 114 116, pick off IV115 can be used for writing down the information of this motion.
Figure 5 shows that of the present invention from the operating side 2 sketch map.2 comprise from the operating side: the base part 4 that an end links to each other with main operation end 1, and the active mechanical arm portion 5 that links to each other with base part 4, and be installed on telescopic section 6 on the active mechanical arm portion 5.
Figure 6 shows that the sketch map of the present invention's base part 4 of 2 from the operating side.Base part 4 includes pedestal 210, one end of pedestal 210 links to each other with the main joints of hand Building I 100 of main operation end 1, the other end is fixedly connected with from joints of hand Building I 212, be equipped with from joints of hand I axle 213 from joints of hand Building I 212, can under the driving of the motor I 211 that places base part 4 inside, rotate from joints of hand I axle 213.Be provided with passive joint face 214 from joints of hand Building I 212, the present invention can be fixed on the passive adjustment rack by passive joint face 214, described passive adjustment rack can adopt publication (as the patent No.: form 200610129845.6).
The sketch map of Fig. 7-Figure 13 shows that the present invention active mechanical arm portion 5 of 2 from the operating side.Described active mechanical arm portion 5 comprise be fixedly linked from the outfan of joints of hand I axle 213 from joints of hand II seat 221, silk wheel I223 and silk wheel II224 be symmetric be fixedly connected on from the both sides of joints of hand II seat 221 and the axis of silk wheel I223 and silk wheel II224 along with direction setting from the output shaft axis normal of joints of hand I axle 213, its axis L2 is installed on from joints of hand II seat 221 along the driving shaft II225 with the setting of silk wheel I223 axis equidirectional, its axis l1 is installed on from joints of hand II seat 221 by bearing along the driving shaft I227 with the setting of silk wheel I223 axis normal direction, described driving shaft I227 links to each other with motor II 226 by shaft coupling, and the handle of turning round of pick off IV228 links to each other with driving shaft I; Between described driving shaft I227 and driving shaft II225, be connected with driving wire I229.Driving shaft I227 can rotate under the driving of motor II 226; The driving wire I229 that connects two driving shafts will be converted into rotatablely moving from the driving shaft II225 of joints of hand II from rotatablely moving of joints of hand II driving shaft I227.Two outfans 222 of described driving shaft II225 are fixedly linked with two flange faces 235 that are arranged on from the hands connecting rod I230 lower end respectively, there are three branches described upper end from hands connecting rod I230, the silk wheel III233 and the silk wheel IV232 that wherein are provided with bearing in the centre bore are fixedly connected on from the upper end medial fascicle of hands connecting rod I230, be provided with and be installed on bearing 234 concentric bearings 231 on silk wheel III233 and the silk wheel IV232 from the both sides branch of hands connecting rod I230, be fixedly connected on silk wheel V237 from hands connecting rod II236 one end, silk wheel VI238 is the back shaft 239 and bearing 231 by being provided with in its axle center respectively, 234 link to each other, connecting rod II output shaft 240 is installed on from the other end of hands connecting rod II236 by bearing, silk wheel VII242, silk wheel VIII243 is fixedly connected on the connecting rod II output seat 241, connecting rod II output seat 241 is fixedly linked with connecting rod II output shaft 240, the end of driving wire II252 and driving wire III253 is individually fixed in silk wheel I223, in the silk groove of silk wheel II224, after serial directive wheel 254 and regulating wheel 255 transmission, the other end is individually fixed in the silk groove of silk wheel V237 and silk wheel VI238, the end of driving wire IV251 and driving wire V250 is individually fixed in the silk groove of silk wheel III233 and silk wheel IV232, after directive wheel 254 and regulating wheel 255 transmission, the other end is individually fixed in the silk groove of silk wheel VII242 and silk wheel VIII243, is fixedly linked from flexible seat 244 of hands and connecting rod II output seat 241; Be provided with guide rail 247 from the flexible seat 244 of hands, slide block 248 is installed on described guide rail, tool holding end 3 is fixedly linked with slide block 248, and described slide block 248 slides on described guide rail 247 by drive mechanism.
Preferred described drive mechanism comprises motor II I245, the output shaft of described motor II I links to each other with driving silk wheel 246, links to each other with the two ends up and down of tool holding end 3 with flexible support wheel 257 by flexible directive wheel 256 respectively at a described two ends 258,259 of taking turns the driving wire that twines on 246 that drive.Tool holding end 3 is fixedly linked with slide block 248, and tool holding end 3 just can be in 247 motions of the traction lower edge of motor II I245 and driving wire guide rail.This componental movement as shown in figure 13.The motion of motor II I245 drafting tool bare terminal end 3 also can be realized by lead screw guide rails mechanism.
Figure 14 has described the sketch map based on minimally-invasive surgery robot system of the present invention.Two mechanical arms 400 of the present invention are installed on the passive adjustment arm 401, and on the handel 405, interior handel can adopt the patent (patent No.: form 200810152765.1) in endoscope then was installed in.Doctor 402 by patient's 403 intravital surgical scene information that observation display 406 transmits, just can utilize the present invention to assist patient 403 is carried out the Minimally Invasive Surgery operation under assistant 404 cooperation like this.
The following describes the action implementation process of the master-slave integrated mechanical arm of assisted minimally invasive surgical operation of the present invention.
When the operator operated the main operation end of the master-slave integrated mechanical arm of assisted minimally invasive surgical operation of the present invention, the pick off in each joint of main operation end can write down the motion change information in each joint.Because characteristics of the present invention, the motion of main operation end reference point is with in full accord from the motion of operating side reference point; Therefore, receive the joint motions information of main operation end at controller after, can directly it be passed to from the operating side, control is from the motion of each movable joint real-time tracking main operation end of operating side Electric Machine Control, reproduction main operation end operator is to the input action of system.When the operator operates the main operation end in apparatus of the present invention, if the joint angles of main operation end joint I changes, the value of the pick off I101 that then controller read also can change, controller and then control motor I in real time and rotate and to make the identical angle of moving from joint, operating side I along the change direction of main operation end joint I.Similarly, if the reading that controller detects the pick off II104 of main operation end joint II changes, then controller in real time the control motor II rotate make from joint, operating side II along and the change direction of the main operation end joint II identical angle of moving.If controller moves by the straight-line motion mechanism that pick off V121 detects the main operation end, then controller can be controlled from operating side motor II I245 drafting tool bare terminal end and make the motion consistent with the straight-line motion mechanism of main operation end, different with the complete pursuit movement of principal and subordinate operating side joint I, joint II, the quantity of motion of the straight-line motion mechanism of main operation end is to be mapped to tool holding end from the operating side according to certain ratio, and one is not more than 1 proportionality coefficient.Certainly, this device in use can also pass through rotation, deflection and the folding amount of pick off III113, pick off IV115, rectilinear transducer 117 detection main operation ends respectively under the situation that the operation tool end is installed, then rotation, deflection and folding amount signal are passed to rotation, deflection and the open and close movement of operation tool end in order to control operation tool end by controller.
Claims (3)
1. the master-slave integrated mechanical arm of assisted minimally invasive surgical operation, it comprises the main operation end, from the operating side, the tool holding end, it is characterized in that: described main operation end (1) comprises that it is provided with the main joints of hand Building I (100) of rotatable main joints of hand I axle (102), the outfan of main joints of hand I axle (102) with its in be provided with rotatable main joints of hand II axle (105) main joints of hand II seat (103) link to each other, the setting that is perpendicular to one another of the axis of described main joints of hand I axle (102) and main joints of hand II axle (105), pick off I (101), the handle of turning round of II (104) is connected on main joints of hand I axle (102) and the main joints of hand II axle (105) by shaft coupling respectively, be fixed with expansion bracket (106) on described main joints of hand II axle, the top of the base of described expansion bracket (106) and the flexible seat of honour (107) is fixedly linked; The described flexible seat of honour (107) links to each other with flexible following (108) by straight-line motion mechanism so that described flexible following (108) can move up and down with respect to the flexible seat of honour (107) and write down described moving up and down by pick off V (121), the rotating shaft that described flexible following (108) vertically are provided with by axis and one are rotatedly connected from swivel base (114), its axis and the vertically disposed yawing axis of described shaft axis (116) are installed in described on swivel base (114), the handle of turning round of pick off III (113) and pick off IV (115) is connected rotating shaft by shaft coupling respectively, on the yawing axis (116), on described yawing axis (116), be connected with folding seat (118), folding lobe I (124) and folding lobe II (125) are installed on the folding seat (118), folding lobe I (124), link to each other by two connecting rods between the folding lobe II (125), link to each other by connecting axle between described two connecting rods and described connecting axle is inserted in the fluting of the rectilinear transducer (117) that is connected on the folding seat; The described base part (4) that links to each other successively that comprises from the operating side, active mechanical arm portion (5) and telescopic section (6), described base part (4) includes pedestal (210), one end of described pedestal (210) links to each other with a side end face of main joints of hand Building I and its other end is fixedly connected with from joints of hand Building I (212), described be equipped with in joints of hand Building I (212) link to each other with the output shaft of motor I (211) from joints of hand I axle (213), describedly be provided with passive joint face (214) from joints of hand Building I (212), described active mechanical arm portion (5) comprise be fixedly linked from the outfan of joints of hand I axle (213) from joints of hand II seat (221), silk wheel I (223) and silk wheel II (224) be symmetric to be fixedly connected on from the both sides of joints of hand II seat (221) and axis edge that silk wheel I (223) and silk are taken turns II (224) and direction setting from the output shaft axis normal of joints of hand I axle (213), its axis is installed on from joints of hand II seat (221) along the driving shaft II (225) with the setting of silk wheel I (223) axis equidirectional, its axis is installed on from joints of hand II seat (221) by bearing along the driving shaft I (227) with the setting of silk wheel I (223) axis normal direction, described driving shaft I (227) links to each other with motor II (226) by shaft coupling, and the handle of turning round of pick off IV links to each other with driving shaft I; Between described driving shaft I (227) and driving shaft II (225), be connected with driving wire I (229); Two outfans (222) of described driving shaft II (225) are fixedly linked with two flange faces (235) that are arranged on from hands connecting rod I (230) lower end respectively, there are three branches described upper end from hands connecting rod I (230), the silk wheel III (233) and the silk wheel IV (232) that wherein are provided with bearing in the centre bore are fixedly connected on from the upper end medial fascicle of hands connecting rod I (230), be provided with and be installed on silk wheel III (233) and silk from the both sides branch of hands connecting rod I (230) and take turns the concentric bearing of bearing (231) on the IV (232), be fixedly connected on silk wheel V (237) from hands connecting rod II (236) one ends, silk wheel VI (238) is the back shaft (239) and bearing (231) by being provided with in its axle center respectively, (234) link to each other, connecting rod II output shaft (240) is installed on from the other end of hands connecting rod II (236) by bearing, silk wheel VII (242), silk wheel VIII (243) is fixedly connected on the connecting rod II output seat (241), connecting rod II output seat (241) is fixedly linked with connecting rod II output shaft (240), the end of driving wire II (252) and driving wire III (253) is individually fixed in silk wheel I (223), in the silk groove of silk wheel II (224), after serial directive wheel (254) and regulating wheel (255) transmission, the other end is individually fixed in the silk groove of silk wheel V (237) and silk wheel VI (238), the end of driving wire IV (251) and driving wire V (250) is individually fixed in the silk groove of silk wheel III (233) and silk wheel IV (232), after directive wheel (254) and regulating wheel (255) transmission, the other end is individually fixed in the silk groove of silk wheel VII (242) and silk wheel VIII (243), is fixedly linked from flexible seat of hands (244) and connecting rod II output seat (241); Be provided with guide rail (247) from the flexible seat of hands (244), slide block (248) is installed on described guide rail (247), tool holding end (3) is fixedly linked with slide block (248), and described slide block (248) is gone up at described guide rail (247) by drive mechanism and slided.
2. the master-slave integrated mechanical arm of assisted minimally invasive surgical operation according to claim 1, it is characterized in that: described straight-line motion mechanism comprises last rotating shaft I (119) and the last rotating shaft II (120) that the coplane that is installed on the flexible seat of honour (107) and axis intersect each other, the end of last connecting rod I (109) and last rotating shaft I (119) are rotatedly connected, the end of last connecting rod II (110) and last rotating shaft II (120) are rotatedly connected, the other end of last connecting rod I (109) and middle rotating shaft I (122) are rotatedly connected, the other end of last connecting rod II (110) and middle rotating shaft II (123) are rotatedly connected, the axis of middle rotating shaft I (122) parallels with last rotating shaft I (119) axis, rotating shaft II (123) parallels with last rotating shaft II (120) axis in the middle of described, the end of lower link I (111) links to each other with middle rotating shaft I (122), the end of lower link II (112) links to each other with middle rotating shaft II (123), and the other end of lower link I (111) and lower link II (112) is respectively by being installed in the following rotating shaft I (126) on flexible following (108), following rotating shaft II (127) links to each other with flexible following (108); The axis of the axis of following rotating shaft I (126) and following rotating shaft II (127) parallels setting with the axis of last rotating shaft I (119) and the axis of last rotating shaft II (120) respectively, and the handle of turning round of pick off V (121) links to each other by shaft coupling with last rotating shaft II (120).
3. the master-slave integrated mechanical arm of assisted minimally invasive surgical operation according to claim 1, it is characterized in that: described drive mechanism comprises motor II I, the output shaft of described motor II I links to each other with a driving wheel (246), and a described two ends of taking turns the driving wire that (246) upward twines that drive link to each other with the two ends up and down of tool holding end with flexible support wheel (257) by the directive wheel (256) that stretches respectively.
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| CN2010102232537A CN101889900B (en) | 2010-07-12 | 2010-07-12 | Master-slave integrated mechanical arm for assisting minimally invasive surgery |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010102232537A CN101889900B (en) | 2010-07-12 | 2010-07-12 | Master-slave integrated mechanical arm for assisting minimally invasive surgery |
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| CN101889900A true CN101889900A (en) | 2010-11-24 |
| CN101889900B CN101889900B (en) | 2012-04-11 |
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