CN102274077A - Robot for minimally invasive vascular intervention surgery - Google Patents
Robot for minimally invasive vascular intervention surgery Download PDFInfo
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- CN102274077A CN102274077A CN2011101176958A CN201110117695A CN102274077A CN 102274077 A CN102274077 A CN 102274077A CN 2011101176958 A CN2011101176958 A CN 2011101176958A CN 201110117695 A CN201110117695 A CN 201110117695A CN 102274077 A CN102274077 A CN 102274077A
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Abstract
The invention discloses a robot for minimally invasive vascular intervention surgery, which comprises a base, an elevator upright post, a five-degree of freedom mechanical arm and a six-axis force sensor, wherein the elevator upright post is fixed to the base; an external sleeve in the five-degree of freedom mechanical arm is fixedly connected with a seat cover through a fixture block; the seat cover is connected with the elevator upright post, and thus realizing overall height adjustment of the mechanical arm; and the six-axis force sensor is arranged on the tail end of the five-degree of freedom mechanical arm. The position and the attitude of the mechanical arm can be adjusted at any time by an operator through pulling the six-axis force sensor, which avoids fixed programming for positioning control and conforms to humanized operation. A high-precision absolute position coder is arranged in a shoulder joint revolving action module, a shoulder joint flection action module and an elbow joint flection action module, and the absolute position coder is controlled by the mechanical position of a photoelectric encoder and is free from the effect of power cut and interference. When the robot is started, the three joints can directly obtain the absolute position without needing reset, and only the two joints with small revolving amplitude need to be reset.
Description
Technical field
Patent of the present invention relates to a kind of armarium, particularly relate at the mechanical arm end six-dimension force sensor has been installed, operator can adjust the position of mechanical arm at any time by pulling six-dimension force sensor, avoid the fixed routineization of positioning control, met the minimally-invasive vascular intervene operation robot of hommization operation.
Background technology
Be accompanied by the quickening of current rhythm of life, people's health problem causes the public's care and attention repeatedly, simultaneously along with being showing improvement or progress day by day of society and improving constantly of people's living standard, people also have higher requirement to medical procedure, except paying close attention to therapeutic effect, also rehabilitation speed is had higher requirement.This will seek medical advice to give birth to and not only will have breakthrough on traditional physiological medical science, also want application operating flexibly, locate accurate medical apparatus and instruments, this research for medical robot provides objective condition, and the application of medical robot has reduced the risk of operation, has improved the environment of operation.Traditional operation is owing to need big wound to expose surgical field of view, and operation technique brings huge misery to the patient, causes postoperative rehabilitation speed very slow simultaneously, more and more can not satisfy people's needs.The appearance of minimally invasive surgery and clinical practice thereof are that medical domain has been opened up the new world, it is little with operative incision, amount of bleeding is little, scar after the operation is little, wound is light, misery less, to recover be that characteristics are applied to clinical operation soon, early stage micro-wound surgical operation is a kind of surgical operation based on endoscopies such as peritoneoscope and thoracoscopies, and the minimally-invasive vascular intervene operation is a new direction of minimally invasive surgery.Yet at present, it also exists many deficiencies: (1) scope needs the special messenger to help, and is difficult to guarantee the stability of localized accuracy and image; (2) because operational objectives is less, the diameter of human vas is generally less than 2mm, and surgical work is chronic, make the doctor feel very tired out, vibration, the fatigue of doctor's hands, the feedback of muscle nerve may appear, what cause moving is inaccurate, has strengthened patient's misery, has reduced the success rate of operation; (3) existing operation method craftsmenship is stronger, and risk is higher, these drawbacks limit the extensive use of blood vessel intervention operation.
After the twentieth century robotics enters the micro-wound surgical operation field, utilize high accuracy, stability, motility, controllability and the not Keep away from radioactive and the infection of robot, finish the location of operation, for a firm operation technique platform is built in doctor's operation, having improved in the past, the doctor can only rely on the surgical experience of subjective judgment and accumulation to finish the situation of operation, can reduce the surgical errors that anthropic factor causes, improve the operation quality.The medical surgery robot not only can assist a physician and finish the accurate location of operative site, the feedback of the vibration of solution surgeon hand, fatigue, muscle nerve, and can realize the minimal damage of performing the operation, improve the precision and the quality of medical diagnosis on disease, operative treatment, increase the operation safety coefficient, shorten treatment time, reduce medical treatment cost.The research of micro-wound operation robot has in recent years become the frontier of robot application, and especially multi-functional medical robotic system has become a new direction of medical robot development.The research and development of domestic medical robot has received increasing concern, and it is more and more to be applied to clinical operating robot, does not use but minimally-invasive vascular intervene operation robot obtains comprehensive research and extension as yet.Traditional robot manipulation is by each motor movement of computer control, but this method is too in stylizing, and is unfavorable for that the doctor makes strain according to practical situation.Moreover, when traditional mechanical arm uses, need at first it to be carried out the initial point involution by software, take operating time, reduce operation efficient.
The patent of invention content
Patent of the present invention provides a kind of auxiliary localized location of end effector of minimally-invasive vascular intervene operation mechanical arm operating robot that is used at the deficiencies in the prior art.
For realizing above purpose, the technical scheme that patent of the present invention adopts is:
Minimally-invasive vascular intervene operation robot is made up of base, lifting column, five degree-of-freedom manipulator and six-dimension force sensor; Wherein lifting column is fixed on the base, and the outer cover for seat in the five degree-of-freedom manipulator is connected by blocking fast cover for seat, and cover for seat is connected with lifting column, realizes the altitude mixture control of mechanical arm integral body, the terminal six-dimension force sensor of installing of five degree-of-freedom manipulator.
Described five degree-of-freedom manipulator comprises four arms and five cradle heads, wherein four arms are: shoulder joint, big arm, back forearm, preceding forearm, five cradle heads comprise: the shoulder joint revolution, the shoulder joint flexing, the elbow joint flexing, preceding little revolution of arm, the carpal joint flexing, wherein shoulder joint is connected with lifting column by cover for seat, turning motor is passed through in the shoulder joint revolution, decelerator and active spur gear are delivered to the passive spur gear of shoulder joint, passive spur gear of shoulder joint and shoulder joint flexing are connected, big arm is connected with the shoulder joint flexing, the flexor of elbow joints triton is crossed key and is fixed on big arm front end, back forearm is connected on the passive bevel gear of elbow joint flexing by screw, preceding little revolution of arm is fixed on the front end of back forearm, preceding forearm and preceding little revolution of arm are connected, and preceding forearm front end is equipped with the carpal joint flexing.
Described shoulder joint and shoulder joint revolution comprise: turning motor, casing, cover for seat, guard shield, rotate the fork tube, the passive spur gear of shoulder joint, frame plate, connecting plate, the 3rd absolute value encoder, the 3rd absolute value encoder support, shaft coupling, anti-rotation disks, first absolute value encoder, the first absolute value encoder support, first rope sheave, second rope sheave, second absolute value encoder, first deep groove ball bearing, second deep groove ball bearing, little spacer, the shoulder joint bearing air cover, outer sleeve, fixture block, shoulder joint flexing motor, shoulder joint flexing decelerator, the shoulder joint drive bevel gear; Wherein turning motor is delivered to the passive spur gear of shoulder joint through decelerator and active spur gear, the passive spur gear of shoulder joint is connected with rotation fork tube, initiatively spur gear and the passive spur gear of shoulder joint are installed in the casing, casing one end links to each other with cover for seat, one end links to each other with guard shield, the passive spur gear of frame plate and shoulder joint is connected by connecting plate, the 3rd absolute value encoder is fixed on the frame plate by the 3rd absolute value encoder support, the output shaft of the 3rd absolute value encoder extends in the anti-rotation disks by shaft coupling, and anti-rotation disks is fixed on the guard shield; First absolute value encoder is fixed on the connecting plate by the first absolute value encoder support, and first rope sheave directly is connected on the projecting shaft of first absolute value encoder; Second absolute value encoder is fixed on the frame plate, and second rope sheave directly is connected on the projecting shaft of second absolute value encoder; Between cover for seat and the rotation fork tube first deep groove ball bearing and second deep groove ball bearing are installed, the first deep groove ball bearing inner ring relies on little spacer to fix, and the second deep groove ball bearing outer ring relies on the shoulder joint bearing air cover to fix; Shoulder joint bearing air cover and outer sleeve are connected by bolt, and outer sleeve is connected by fixture block and cover for seat, and cover for seat is connected with lifting column; Shoulder joint flexing motor is installed in the cover for seat, and shoulder joint flexing motor is connected with the shoulder joint drive bevel gear by shoulder joint flexing decelerator.
Described shoulder joint flexing comprises: shoulder joint is by dynamic bevel gear, big arm frame, shoulder joint flexion axis, the 3rd rope sheave, shoulder joint bearing (ball) cover, rope one; Wherein shoulder joint is by dynamic bevel gear and the engagement of shoulder joint drive bevel gear, big arm frame is connected in shoulder joint by on the dynamic bevel gear, the shoulder joint flexion axis is connected by key by dynamic bevel gear with shoulder joint, the breast wheel of the 3rd rope sheave as rope drive is installed on the shoulder joint flexion axis, one end of shoulder joint flexion axis is equipped with the shoulder joint bearing (ball) cover, shoulder joint is had the rope sheave groove by design on the dynamic bevel gear, and an end of rope one is put into this groove, and the other end is enclosed within on second rope sheave.
Described big arm and elbow joint flexing comprise: elbow joint flexing encoder, elbow joint flexing motor, elbow joint flexing decelerator, elbow joint reducer stent, elbow joint drive bevel gear, elbow joint are by dynamic bevel gear, flexor of elbow joints bent axle, the 4th rope sheave, rope two, elbow joint bearing (ball) cover; Elbow joint flexing encoder wherein, elbow joint flexing motor links to each other with big arm frame by the elbow joint reducer stent with elbow joint flexing decelerator, elbow joint flexing motor links to each other with the elbow joint drive bevel gear by elbow joint flexing decelerator, elbow joint drive bevel gear and elbow joint are meshed by dynamic bevel gear, the flexor of elbow joints bent axle is connected by dynamic bevel gear with elbow joint by key, back forearm is connected in elbow joint by on the dynamic bevel gear by screw, the 4th rope sheave is housed on the flexor of elbow joints bent axle, rope two is by the breast wheel of the 3rd rope sheave as rope drive, one end is enclosed within on the 4th rope sheave, the other end is enclosed within on first rope sheave, and an end of flexor of elbow joints bent axle is equipped with the elbow joint bearing (ball) cover.
The type of drive of described carpal joint flexing is identical with the elbow joint flexing with the shoulder joint flexing.
The correction of little revolution of arm and carpal joint flexing realizes by photoswitch before described.
Described six-dimension force sensor links to each other with computer by USB interface, and computer links to each other with elbow joint flexing motor with shoulder joint flexing motor with driver by controller.
The mechanical arm of patent of the present invention adopts the apery design, and the length in each joint of the length of each parts and human body arm is similar, and also very similar people's arm of the design in each joint; Actuating device adopts built-in, and bevel gear, encoder, motor all is placed on mechanical arm inside, makes smooth in appearance, soft, apparent lofty, shows human oriented design; With mechanical arm middle part sub-unit postposition, make whole center of gravity in the design, avoided the influence of himself weight, improve its weight capacity greatly its weight capacity as far as possible near lifting arm; At the mechanical arm end six-dimension force sensor has been installed, operator can adjust the position and the attitude of mechanical arm at any time by pulling six-dimension force sensor, have avoided the fixed routineization of positioning control, meet the hommization operation; In shoulder joint revolution, shoulder joint flexing, three action module of elbow joint flexing the high accuracy absolute position encoder is installed, absolute position encoder is by the decision of the mechanical location of photoelectric code disk, it is not subjected to have a power failure, the interferential influence, when starting, these three joints can directly obtain the absolute position and not need to reset, and only the little joint of latter two rotation amplitude are resetted.Because first three joint amplitude of fluctuation is bigger, need the long time when resetting, but after absolute position encoder is housed, had both saved resetting time and also saved reset space, be highly suitable for this occasion of hospital.
Description of drawings
Fig. 1 is a patent system sketch of the present invention;
Fig. 2 is each the joint transmission of patent of the present invention and the sketch that resets;
Fig. 3 is the connected mode sketch map of patent mechanical arm of the present invention and lifting column;
Fig. 4 is the rearmounted part sketch of patent of the present invention;
Fig. 5 is the theory diagram of patent six-dimension force sensor control manipulator motion of the present invention.
Be labeled as among the figure:
Flexor of elbow joints bent axle 1, elbow joint is by dynamic bevel gear 2, elbow joint drive bevel gear 3, elbow joint reducer stent 4, elbow joint flexing decelerator 5, elbow joint flexing motor 6, elbow joint flexing encoder 7, shoulder joint is by dynamic bevel gear 8, shoulder joint drive bevel gear 9, restrict 1, shoulder joint flexing decelerator 11, shoulder joint flexing motor 12, first deep groove ball bearing 13, the passive spur gear 14 of shoulder joint, first absolute encoder 15, first rope sheave 16, second absolute value encoder 17, second rope sheave 18, the 3rd absolute value encoder 19, shaft coupling 20, anti-rotation disks 21, the 3rd absolute value encoder support 22, frame plate 23, the first absolute value encoder support 24, connecting plate 25, septulum cover 26, lifting column 27, cover for seat 28, second deep groove ball bearing 29, shoulder joint bearing air cover 30, shoulder joint bearing (ball) cover 31, shoulder joint flexion axis 32, the 3rd rope sheave 33, restrict 2 34, big arm frame 35, elbow joint bearing (ball) cover 36, the 4th rope sheave 37, turning motor 38, casing 39, rotate fork tube 40, guard shield 41, outer sleeve 42, fixture block 43, base 44, shoulder joint revolution 45, shoulder joint 46, shoulder joint flexing 47, big arm 48, elbow joint flexing 49, back forearm 50, preceding forearm revolution 51, preceding forearm 52, carpal joint flexing 53, sextuple dynamics pick off 54, tube feeding mechanism 55.
The specific embodiment
As shown in Figure 1, wherein lifting column 27 is fixed on the base 45, five degree-of-freedom manipulator is connected with lifting column 27 by cover for seat 28, realize the altitude mixture control of mechanical arm integral body, the terminal six-dimension force sensor 54 of installing of five degree-of-freedom manipulator, five degree-of-freedom manipulator comprises four arms and five cradle heads, wherein four arms are: shoulder joint 46, big arm 48, back forearm 50, preceding forearm 52, five cradle heads comprise: shoulder joint revolution 45, shoulder joint flexing 47, elbow joint flexing 49, preceding forearm revolution 51, carpal joint flexing 53, wherein shoulder joint 46 is connected with lifting column 27 by cover for seat 28, turning motor is passed through in shoulder joint revolution 45, decelerator and active spur gear are delivered to the passive spur gear of shoulder joint, passive spur gear of shoulder joint and shoulder joint flexing 47 are connected, big arm 48 is connected with shoulder joint flexing 47, elbow joint flexing 49 is fixed on big arm 48 front ends by key, back forearm 50 is connected in elbow joint flexing 49 by on the dynamic bevel gear by screw, preceding forearm revolution 51 is fixed on the front end of back forearm 50, preceding forearm 52 is connected with preceding forearm revolution 51, and preceding forearm 52 front ends are equipped with carpal joint flexing 53.
Shown in Fig. 2,3,4, start shoulder joint turning motor 38, motor power is delivered to the passive spur gear 14 of shoulder joint through decelerator and active spur gear, the passive spur gear 14 of shoulder joint is connected with rotation fork tube 40, rotate fork tube 40 also rotates thereupon, inner each parts of shoulder joint all directly or indirectly are installed in and rotate on the fork tube, rotate together thereupon, thereby realize shoulder joint revolution action.Intermeshing spur gear pair is sealed in the casing 39, and casing 39 1 ends link to each other with cover for seat 28, and an end links to each other with guard shield 41, thereby the postposition part is coupled together by outer sleeve and casing with shoulder joint.Shoulder joint revolution certain angle, frame plate 23 is connected by connecting plate 25 with the passive spur gear 14 of shoulder joint, do the rotation of equal angular, the 3rd absolute value encoder 19 is fixed on the frame plate on 23 and rotates thereupon, and the output shaft of the 3rd absolute value encoder 19 extends in the anti-rotation disks 21 by shaft coupling 20, by the rotation of a holding screw restrictive axes, anti-rotation disks 21 is fixed on the guard shield 41, does not rotate.And then, by the 3rd absolute value encoder 19 is carried out reading, can determine the rotating angle of shoulder joint at any time, when restarting power supply, need not to reset.
Start shoulder joint flexing motor 12, power slows down through shoulder joint flexing decelerator 11 and is delivered to shoulder joint drive bevel gear 9, and then the shoulder joint that drive is engaged with is rotated by dynamic bevel gear 8, big arm frame 35 is connected in shoulder joint and is rotated on the dynamic bevel gear 8 thereupon, shoulder joint flexion axis 32 and shoulder joint are connected by key by dynamic bevel gear 8, shoulder joint flexion axis 32 is rotated synchronously with bevel gear 8, thereby realizes the action of shoulder joint flexing.Shoulder joint is had the rope sheave groove by design on the dynamic bevel gear 8, one end of rope 1 is put into this groove, the other end is enclosed within on second rope sheave 18, like this, shoulder joint is rotated by dynamic bevel gear 8, driving second rope sheave 18 by rope drive rotates synchronously, second rope sheave 18 directly is connected on the projecting shaft of second absolute value encoder 17, second absolute value encoder 17 just can write down the angle that second rope sheave 18 rotates, thereby read the angle of shoulder joint flexing at any time, need not reset and just know this joint residing position when using next time.
Start elbow joint flexing motor 6, power be delivered to elbow joint drive bevel gear 3 through elbow joint flexing decelerator 5 and the elbow joint that is engaged with by dynamic bevel gear 2, back forearm 50 is connected in elbow joint by on the dynamic bevel gear 2 by screw, rotates synchronously thereupon, realizes the action of elbow joint flexing.The elbow joint electric machine assembly that comprises elbow joint flexing encoder 7 links to each other with big arm frame 35 by elbow joint reducer stent 4.Flexor of elbow joints bent axle 1 is followed elbow joint by the key connection and is rotated by dynamic bevel gear 2, the 4th rope sheave 37 is housed on the flexor of elbow joints bent axle 1,2 34 1 ends of restricting are enclosed within on the 4th rope sheave 37, the other end is enclosed within on first rope sheave 16, first rope sheave 16 directly is connected on the projecting shaft of first absolute value encoder 15, first absolute value encoder 15 just can write down the angle that first rope sheave 16 rotates, thereby realizes reading at any time the angle of elbow joint flexing, and need not to reset when using next time.Because first absolute value encoder, 15 assembly postposition, when surveying the angle of elbow joint flexing, restrict 2 34 needs through shoulder joint, and the action of shoulder joint flexing can influence the transmission of rope, therefore the breast wheel of the 3rd rope sheave 33 as rope drive be installed on shoulder joint flexion axis 32, restrict when avoiding the shoulder joint flexing and 2 34 run on the shoulder joint flexion axis 32, influence its transmission, cause the error of first absolute value encoder, 15 readings.
Preceding forearm revolution 51 realizes by the driven by motor harmonic speed reducer, the type of drive of carpal joint flexing 53 is identical with elbow joint flexing 49 with shoulder joint flexing 47, the correction of preceding forearm revolution 51 and carpal joint flexing 53 realizes by photoswitch, preceding forearm 52 front ends are equipped with carpal joint flexing 53, rotate different angles by five joints and realize the terminal location that connects tube feeding mechanism 55 of mechanical arm.
As shown in Figure 6, operator pull six-dimension force sensor along a certain assigned direction, six-dimension force sensor converts sextuple strain signal in the space coordinates sextuple power (three-dimensional force, three-dimensional moment) signal, and then change sextuple voltage signal into and export computer to through USB interface, computer is converted to spatial sextuple displacement with sextuple voltage signal, and (three move, three rotate), and will move and be merged into a space line, this straight line is carried out path planning as target trajectory, calculate position and the speed of each joint in the corresponding time, by the motion of electric machine controller and each joint motor of driver coordination control, realize by the position and the attitude control of six-dimension force sensor to mechanical arm.
Claims (6)
1. minimally-invasive vascular intervene operation robot is made up of base, lifting column, five degree-of-freedom manipulator and six-dimension force sensor; It is characterized in that: wherein lifting column is fixed on the base, and the outer cover for seat in the five degree-of-freedom manipulator is connected by blocking fast cover for seat, and cover for seat is connected with lifting column, the terminal six-dimension force sensor of installing of five degree-of-freedom manipulator.
2. minimally-invasive vascular intervene operation according to claim 1 robot, it is characterized in that: five degree-of-freedom manipulator comprises four arms and five cradle heads, wherein four arms are: shoulder joint, big arm, back forearm, preceding forearm, five cradle heads comprise: the shoulder joint revolution, the shoulder joint flexing, the elbow joint flexing, preceding little revolution of arm, the carpal joint flexing, wherein shoulder joint is connected with lifting column by cover for seat, turning motor is passed through in the shoulder joint revolution, decelerator and active spur gear are delivered to the passive spur gear of shoulder joint, passive spur gear of shoulder joint and shoulder joint flexing are connected, big arm is connected with the shoulder joint flexing, the flexor of elbow joints triton is crossed key and is fixed on big arm front end, back forearm is connected on the passive bevel gear of elbow joint flexing by screw, preceding little revolution of arm is fixed on the front end of back forearm, preceding forearm and preceding little revolution of arm are connected, and preceding forearm front end is equipped with the carpal joint flexing.
3. minimally-invasive vascular intervene operation according to claim 2 robot is characterized in that: shoulder joint and shoulder joint revolution comprise: turning motor, casing, cover for seat, guard shield, rotate the fork tube, the passive spur gear of shoulder joint, frame plate, connecting plate, the 3rd absolute value encoder, the 3rd absolute value encoder support, shaft coupling, anti-rotation disks, first absolute value encoder, the first absolute value encoder support, first rope sheave, second rope sheave, second absolute value encoder, first deep groove ball bearing, second deep groove ball bearing, little spacer, the shoulder joint bearing air cover, outer sleeve, fixture block, shoulder joint flexing motor, shoulder joint flexing decelerator, the shoulder joint drive bevel gear; Wherein turning motor is delivered to the passive spur gear of shoulder joint through decelerator and active spur gear, the passive spur gear of shoulder joint is connected with rotation fork tube, initiatively spur gear and the passive spur gear of shoulder joint are installed in the casing, casing one end links to each other with cover for seat, one end links to each other with guard shield, the passive spur gear of frame plate and shoulder joint is connected by connecting plate, the 3rd absolute value encoder is fixed on the frame plate by the 3rd absolute value encoder support, the output shaft of the 3rd absolute value encoder extends in the anti-rotation disks by shaft coupling, and anti-rotation disks is fixed on the guard shield; First absolute value encoder is fixed on the connecting plate by the first absolute value encoder support, and first rope sheave directly is connected on the projecting shaft of first absolute value encoder; Second absolute value encoder is fixed on the frame plate, and second rope sheave directly is connected on the projecting shaft of second absolute value encoder; Between cover for seat and the rotation fork tube first deep groove ball bearing and second deep groove ball bearing are installed, the first deep groove ball bearing inner ring relies on little spacer to fix, and the second deep groove ball bearing outer ring relies on the shoulder joint bearing air cover to fix; Shoulder joint bearing air cover and outer sleeve are connected by bolt, and outer sleeve is connected by fixture block and cover for seat, and cover for seat is connected with lifting column; Shoulder joint flexing motor is installed in the cover for seat, and shoulder joint flexing motor is connected with the shoulder joint drive bevel gear by shoulder joint flexing decelerator.
4. minimally-invasive vascular intervene operation according to claim 2 robot, it is characterized in that: the shoulder joint flexing comprises: shoulder joint is by dynamic bevel gear, big arm frame, shoulder joint flexion axis, the 3rd rope sheave, shoulder joint bearing (ball) cover, rope one; Wherein shoulder joint is by dynamic bevel gear and the engagement of shoulder joint drive bevel gear, big arm frame is connected in shoulder joint by on the dynamic bevel gear, the shoulder joint flexion axis is connected by key by dynamic bevel gear with shoulder joint, the breast wheel of the 3rd rope sheave as rope drive is installed on the shoulder joint flexion axis, one end of shoulder joint flexion axis is equipped with the shoulder joint bearing (ball) cover, shoulder joint is had the rope sheave groove by design on the dynamic bevel gear, and an end of rope one is put into this groove, and the other end is enclosed within on second rope sheave.
5. minimally-invasive vascular intervene operation according to claim 2 robot is characterized in that: big arm and elbow joint flexing comprise: elbow joint flexing encoder, elbow joint flexing motor, elbow joint flexing decelerator, elbow joint reducer stent, elbow joint drive bevel gear, elbow joint are by dynamic bevel gear, flexor of elbow joints bent axle, the 4th rope sheave, rope two, elbow joint bearing (ball) cover; Elbow joint flexing encoder wherein, elbow joint flexing motor links to each other with big arm frame by the elbow joint reducer stent with elbow joint flexing decelerator, elbow joint flexing motor links to each other with the elbow joint drive bevel gear by elbow joint flexing decelerator, elbow joint drive bevel gear and elbow joint are meshed by dynamic bevel gear, the flexor of elbow joints bent axle is connected by dynamic bevel gear with elbow joint by key, back forearm is connected in elbow joint by on the dynamic bevel gear by screw, the 4th rope sheave is housed on the flexor of elbow joints bent axle, rope two is by the breast wheel of the 3rd rope sheave as rope drive, one end is enclosed within on the 4th rope sheave, the other end is enclosed within on first rope sheave, and an end of flexor of elbow joints bent axle is equipped with the elbow joint bearing (ball) cover.
6. according to claim 1 or 3 or 5 described minimally-invasive vascular intervene operation robots, it is characterized in that: described six-dimension force sensor links to each other with computer by USB interface, and computer links to each other with elbow joint flexing motor with shoulder joint flexing motor with driver by controller.
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| CN2011101176958A CN102274077A (en) | 2011-05-09 | 2011-05-09 | Robot for minimally invasive vascular intervention surgery |
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| CN2011101176958A CN102274077A (en) | 2011-05-09 | 2011-05-09 | Robot for minimally invasive vascular intervention surgery |
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