CN104783900A - Follow-up type nasal endoscope operation auxiliary robot - Google Patents
Follow-up type nasal endoscope operation auxiliary robot Download PDFInfo
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- CN104783900A CN104783900A CN201510157545.8A CN201510157545A CN104783900A CN 104783900 A CN104783900 A CN 104783900A CN 201510157545 A CN201510157545 A CN 201510157545A CN 104783900 A CN104783900 A CN 104783900A
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Abstract
The invention provides a follow-up type nasal endoscope operation auxiliary robot. The follow-up type nasal endoscope operation auxiliary robot comprises a guide rail adapter fitted to guide rails of different operation beds, an automatic lifting mechanism which is connected to the guide rail adapter and is lifted in the direction perpendicular to the operation beds, an automatic stretching mechanism which is connected to the tail end of the automatic lifting mechanism and stretches in a plane parallel to the operation beds, a two-degree-of-freedom RCM mechanism connected to the tail end of the automatic stretching mechanism, an automatic tail end adjusting mechanism which is connected to the tail end of the RCM mechanism and drives a nasal endoscope to conduct depth feeding and angle compensation and a controller which controls the automatic lifting mechanism, the automatic stretching mechanism, the RCM mechanism and the automatic tail end adjusting mechanism to move. A doctor is replaced with the robot in an operation to hold the nasal endoscope, appropriate adjustment in good time is carried out along with an operation instrument, the left hand of the doctor is liberated, picture swing occurring in the operation is overcome, the labor intensity of the doctor is reduced, and complications are reduced.
Description
Technical field
The invention belongs to medical instruments field, particularly relate to a kind of trailing type Transnasal endoscopy operation auxiliary robot.
Background technology
Transnasal endoscopy operation is to remove nasal cavity focus, and recovery nasal airflow is main purpose.Traditional Transnasal endoscopy operation mode is the left hand mirror of operative doctor, and the right hand carries out operation technique, and this modus operandi exists following problem:
The first, operative doctor needs a hands to hold nasal endoscopes, therefore it only has a hands can carry out other operation technique, and one-handed performance has a lot of limitation, and some complex operations (as excision operation) one hand has been difficult to, and needs bimanualness.And when needs bimanualness, doctor often relies on assistant Lai Chijing, and communication between doctor and assistant, coordinate also to be a problem;
The second, staff holds mirror for a long time can cause operative doctor aching pain of muscles, is difficult to keep operational stability for a long time, easily causes operation picture weave, cause maloperation, and these are all unfavorable for carrying out smoothly of operation, also can cause extra wound to patient time serious.
In order to the left hand solving doctor holds the problem of mirror for a long time, propose assist physician to clamp the device of nasal endoscopes, existing passive type nasal endoscopes clamping device often adopts pneumatic or hydraulic pressure to realize joint locking, although the left hand mirror of doctor can be replaced, but complete trackability can not be accomplished, need doctor frequently to go the position of adjusting mechanical arm, attitude to adjust the nasal endoscopes visual field in operation process, adjustment process is loaded down with trivial details; There will be in joint pine conjunction process during adjustment and rock, affect surgical field of view.
Existing trailing type Transnasal endoscopy operation auxiliary robot complex structure, cost is large compared with high and volume, in limited operative space robot easily and operating theater instruments interfere with each other.
Summary of the invention
The object of the present invention is to provide a kind of trailing type Transnasal endoscopy operation auxiliary robot, the operation confinement problems that the modus operandi being intended to solve the hand-held nasal endoscopes existed in prior art brings.
The present invention realizes like this, a kind of trailing type Transnasal endoscopy operation auxiliary robot, it comprises the guide rail adapter on the guide rail that can adapt to different operation table, to be connected on described guide rail adapter and the automatic hoisting mechanism be elevated on the direction perpendicular to described operation table, be connected to described automatic hoisting mechanism end and auto-telescopic mechanism flexible in the plane being parallel to described operation table, be connected to the binary RCM mechanism of the end of described auto-telescopic mechanism, be connected to the end of described RCM mechanism and drive nasal endoscopes carry out the automatic end governor motion of degree of depth feeding and angle compensation and control described automatic hoisting mechanism, described auto-telescopic mechanism, the controller of described RCM mechanism and the action of described automatic end governor motion.
Further, the leading screw that described automatic hoisting mechanism comprises the base footstock relative with described base, is arranged at the lifting platform between described base with described footstock, the feed screw nut be fixed on described lifting platform engages with described feed screw nut, be supported in the support column between described lifting platform and described footstock and drive described screw turns to drive the driving mechanism of described lifting of lifting table, an end of described auto-telescopic mechanism is fixed on described footstock.
Further, described automatic hoisting mechanism also comprises the spline rod being arranged at ball spline pair fixed mount between described lifting platform and described footstock, being fixed on the axle sleeve on described lifting platform and being arranged in described axle sleeve, the opposite end of described spline rod is separately fixed on described ball spline pair fixed mount and described base, the first end of described leading screw is rotationally connected with on described base, and second end relative with first end of described leading screw passes described feed screw nut and be fixed on described ball spline pair fixed mount.
Further, described driving mechanism comprises the motor be fixed on described base, is fixedly connected on the first synchronous pulley of the output shaft of described motor, is fixedly connected on the second synchronous pulley on the first end of described leading screw and is sheathed on the Timing Belt on described first synchronous pulley and described second synchronous pulley.
Further, described axle sleeve is several, and axle sleeve described in several is uniformly distributed in around described feed screw nut, and corresponding each described axle sleeve is provided with described spline rod.
Further, described auto-telescopic mechanism comprises some cradle head bearings of being rotationally connected successively and orders about adjacent two described cradle head bearings rotating mechanism in relative rotation, the cradle head bearing being positioned at head end in some described cradle head bearings is fixed on described automatic hoisting mechanism end, and the cradle head bearing being positioned at end in some described cradle head bearings is rotationally connected with the head end of described RCM mechanism.
Further, described RCM mechanism comprises the head end pedestal, end feeding pedestal and four connection rod set being symmetrical set that are rotationally connected with the end of described auto-telescopic mechanism, these four connection rod set and described head end pedestal, described end feeding pedestal are together to form two parallel-crank mechanisms be rotationally connected, described head end base interior is provided with motor, and described motor drives one of them parallel-crank mechanism to rotate.
Further, described automatic end governor motion comprises the guide rail being fixed on described RCM mechanism end, be slidably mounted on the sliding sleeve on described guide rail, be fixed on the feed screw nut part on described sliding sleeve, be connected to two risers of described guide rail opposite end, to be rotationally connected with between two described risers and the leading screw be engaged on described feed screw nut part, drive described screw turns to drive the first driving mechanism of described feed screw nut part movement, be fixed on the bearing on described feed screw nut part, rotate the turntable be installed on described bearing, the second driving mechanism being fixedly connected on the nasal endoscopes folder on described turntable and driving described turntable to rotate.
Further, described first driving mechanism comprises the first motor, the first synchronous pulley be fixed on the output shaft of described first motor, is fixed on the second synchronous pulley on described leading screw and is sheathed on the first Timing Belt on described first synchronous pulley and described second synchronous pulley; Described second driving mechanism comprises the second motor be fixed on described bearing, the 3rd synchronous pulley be fixed on the output shaft of described second motor, be fixed on the 4th synchronous pulley on described bearing and be sheathed on the second Timing Belt on described 3rd synchronous pulley and described 4th synchronous pulley.
Further, described guide rail adapter comprises U-shaped frame, this U-shaped frame comprises two siding tracks be parallel to each other and the traverse rod be connected between two described siding tracks, described guide rail adapter also comprises and being slidably installed on two described siding tracks and the first slide block be fixedly connected on the edge of described operation table and the second slide block be slidably installed on described traverse rod, described first slide block and described second slide block are individually fixed on described siding track and described traverse rod by two perpendicular direction fixing in time sliding to precalculated position, the bottom of described automatic hoisting mechanism is fixed on described second slide block.
The present invention proposes a trailing type Transnasal endoscopy operation auxiliary robot on the basis of weak point analyzing existing operative model and existing technologies existence.This trailing type Transnasal endoscopy operation auxiliary robot replaces doctor to hold nasal endoscopes in operation, and follow operating theater instruments and adjust moderately and at the right moment, make surgical field of view automatic, stable be presented in face of doctor, the left hand of liberation doctor, change one-handed performance is bimanualness, solve the picture weave problem occurred in operation, robot motion can also be stablized, accurate positioning, compact conformation, safe and reliable advantage combine with the experience of operative doctor, thus improve surgical quality, reduce the labor intensity of doctor, reduce complication.
Accompanying drawing explanation
Fig. 1 is the structural representation that trailing type Transnasal endoscopy operation auxiliary robot that the embodiment of the present invention provides is in use.
Fig. 2 is the partial enlarged drawing of the trailing type Transnasal endoscopy operation auxiliary robot of Fig. 1.
Fig. 3 is the three-dimensional structure diagram of the guide rail adapter of the trailing type Transnasal endoscopy operation auxiliary robot of Fig. 1.
Fig. 4 is the three-dimensional structure diagram of the automatic hoisting mechanism of the trailing type Transnasal endoscopy operation auxiliary robot of Fig. 1.
Fig. 5 is the three-dimensional structure diagram after the automatic hoisting mechanism removal shell of the trailing type Transnasal endoscopy operation auxiliary robot of Fig. 4.
Fig. 6 is the three-dimensional structure diagram of the auto-telescopic mechanism of the trailing type Transnasal endoscopy operation auxiliary robot of Fig. 1.
Fig. 7 is the three-dimensional structure diagram of the RCM mechanism of the trailing type Transnasal endoscopy operation auxiliary robot of Fig. 1.
Fig. 8 is the three-dimensional structure diagram of the automatic end governor motion of the trailing type Transnasal endoscopy operation auxiliary robot of Fig. 1.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.It should be noted that, " first ", " second " that relate in the description ... etc. relate to quantity word be all to distinguish the parts that each has identical function, can't limiting to some extent protection domain.
Refer to Fig. 1 and Fig. 2, the trailing type Transnasal endoscopy operation auxiliary robot that the embodiment of the present invention provides comprises the guide rail adapter 100 on the guide rail that can adapt to different operation table 105, to be connected on described guide rail adapter 100 and the automatic hoisting mechanism 200 be elevated on the direction perpendicular to described operation table 105, be connected to described automatic hoisting mechanism 200 end and auto-telescopic mechanism 300 flexible in the plane being parallel to described operation table 105, be connected to the binary RCM mechanism 400 of the end of described auto-telescopic mechanism 300, be connected to the end of described RCM mechanism 400 and drive nasal endoscopes 10 carry out the automatic end governor motion 500 of degree of depth feeding and angle compensation and control described automatic hoisting mechanism 200, described auto-telescopic mechanism 300, the controller (not shown) of described RCM mechanism 400 and the action of described automatic end governor motion 500.
The present invention proposes a trailing type Transnasal endoscopy operation auxiliary robot on the basis of weak point analyzing existing operative model and existing technologies existence.This trailing type Transnasal endoscopy operation auxiliary robot replaces doctor to hold nasal endoscopes 10 in operation, and follow operating theater instruments and adjust moderately and at the right moment, make surgical field of view automatic, stable be presented in face of doctor, the left hand of liberation doctor, change one-handed performance is bimanualness, solve the picture weave problem occurred in operation, robot motion can also be stablized, accurate positioning, compact conformation, safe and reliable advantage combine with the experience of operative doctor, thus improve surgical quality, reduce the labor intensity of doctor, reduce complication.
Guide rail adapter 100 is for being securely fixed in the correct position of operation table 105 guide rail by robot body.
Automatic hoisting mechanism 200 and auto-telescopic mechanism 300 are mainly used in preoperative initialization robot location, carry out position adjustment in art to nasal endoscopes 10, and nasal endoscopes 10 end is delivered to targeted surgical region;
RCM mechanism 400 and automatic end governor motion 500 are mainly used in adjusting robot pose in preoperative initialization robot pose and art, so that operative doctor can observe complicated nasal cavity structure.
Please refer to Fig. 3, described guide rail adapter 100 comprises U-shaped frame 103, this U-shaped frame 103 comprises two siding tracks 104 be parallel to each other and the traverse rod 106 be connected between two described siding tracks 104, described guide rail adapter 100 also comprises and being slidably installed on two described siding tracks 104 and the first slide block 101 be fixedly connected on the edge of described operation table 105 and the second slide block 102 be slidably installed on described traverse rod 106, described first slide block 101 and described second slide block 102 are individually fixed in described siding track 104 with on described traverse rod 106 by two perpendicular direction fixing in time sliding to precalculated position, the bottom of described automatic hoisting mechanism 200 is fixed on described second slide block 102.
The effect of the first slide block 101 is fixed together by the guide rail of U-shaped frame 103 with operation table 105 both sides, and the guide rail of operation table 105 both sides respectively has first slide block 101.First slide block 101 is fixed from the outside of operation table 105 and the downside of guide rail by two groups of screws with the fixing of U-shaped frame 103 respectively with the fixing of operation table 105 guide rail and the first slide block 101, realizes in two perpendicular direction fixing by this fixed form.U-shaped frame 103 and operation table 105 guide rail can be fixed together by the first slide block 101 well, ensure that the stability of robot base.The effect of the second slide block 102 is fixed together at whole robot and U-shaped frame 103.
Please refer to Fig. 4 and Fig. 5, described automatic hoisting mechanism 200 comprises base 204, the footstock 211 relative with described base 204, be arranged at the lifting platform 207 between described base 204 and described footstock 211, be fixed on the feed screw nut 212 on described lifting platform 207, the leading screw 205 engaged with described feed screw nut 212, be supported in the support column 210 between described lifting platform 207 and described footstock 211 and drive described leading screw 205 to rotate the first driving mechanism 20 driving described lifting platform 207 to be elevated, one end of described auto-telescopic mechanism 300 is fixed on described footstock 211.Merely by the rotation of leading screw 205, drive moving up and down of lifting platform 207, then drive moving up and down of footstock 211 by the support column 210 on lifting platform 207, auto-telescopic mechanism 300 can be driven to move up and down.
In order to make the lifting of automatic hoisting mechanism 200 more steady, smooth and easy, described automatic hoisting mechanism 200 also comprises the ball spline pair fixed mount 209 be arranged between described lifting platform 207 and described footstock 211, the spline rod 206 being fixed on the axle sleeve 208 on described lifting platform 207 and being arranged in described axle sleeve 208, the opposite end of described spline rod 206 is separately fixed on described ball spline pair fixed mount 209 and described base 204, the first end of described leading screw 205 is rotationally connected with on described base 204, second end relative with first end of described leading screw 205 passes described feed screw nut 212 and is fixed on described ball spline pair fixed mount 209.
Further, described axle sleeve 208 is several, and axle sleeve 208 described in several is uniformly distributed in described feed screw nut 212 around, and corresponding each described axle sleeve 208 is provided with described spline rod 206.In the present embodiment, axle sleeve 208 is three, and spline rod 206 is also three.
Described first driving mechanism 20 comprises the first motor 201 be fixed on described base 204, is fixedly connected on the first synchronous pulley 202 of the output shaft of described first motor 201, is fixedly connected on the second synchronous pulley 203 on the first end of described leading screw 205 and is sheathed on described first synchronous pulley 202 and the Timing Belt (not shown) on described second synchronous pulley 203.
The bottom of automatic hoisting mechanism 200 is fixed on the second slide block 102.First motor 201 is fixing on base 204.First synchronous pulley 202 is fixed on the output shaft of the first motor 201.The rotating shaft of the first synchronous pulley 202 and the first motor 201 can not relatively rotate.Second synchronous pulley 203 is fixed on bottom leading screw 205, and the two can not relatively rotate.By Timing Belt synchronous axial system between first synchronous pulley 202 and the second synchronous pulley 203.Leading screw 205 is installed on base 204 by rolling bearing.The other end of leading screw 205 is arranged on ball spline pair fixed mount 209 by rolling bearing.Feed screw nut 212 is linked on leading screw 205, and is fixed on the centre of lifting platform 207.Three ball spline pair are evenly distributed in leading screw 205 around.Wherein the two ends of the spline rod 206 of ball spline pair are separately fixed on ball spline pair fixed mount 209 and base 204.Three ball spline axle sleeves 208 are fixed on lifting platform 207 equably, and are linked in respectively on the spline rod 206 of three ball spline pair.Lifting platform 207 can move up and down with the spline rod 206 of ball spline axle sleeve 208 along ball spline pair.
The effect of ball spline pair mainly contains 2 points: (1) is used for limiting lifting platform 207 circumferential movement; (2) described auto-telescopic mechanism 300, described RCM mechanism 400 and described automatic end governor motion 500 3 great institutions are played a supportive role; Lifting platform 207 is fixed with equably three support columns 210.The other end of support column 210 is fixed on footstock 211.First shell 213 and second housing 214 are separately fixed on base 204 and lifting platform 207.
The operation principle of automatic hoisting mechanism 200 is as follows: the first motor 201 drives the first synchronous pulley 202 to rotate.Transmitted motion on the second synchronous pulley 203 by Timing Belt.Second synchronous pulley 203 drives leading screw 205 to rotate, and the feed screw nut 212 coordinated with leading screw 205 drives lifting platform 207 to move up and down along the spline rod 206 of ball spline pair.Footstock 211 is followed lifting platform 207 and is moved up and down together, thus achieves the adjustment of nasal endoscopes 10 in the vertical direction position.
Please refer to Fig. 6, described auto-telescopic mechanism 300 comprises some cradle head bearings 30 of being rotationally connected successively and orders about adjacent two described cradle head bearings 30 rotating mechanism 40 in relative rotation, the cradle head bearing 30 being positioned at head end in some described cradle head bearings 30 is fixed on described automatic hoisting mechanism 200 end, and the cradle head bearing 30 being positioned at end in some described cradle head bearings 30 is rotationally connected with the head end of described RCM mechanism 400.The cradle head bearing 30 being positioned at head end in some described cradle head bearings 30 is fixed on footstock 211.Rotation between cradle head bearing 30 is for horizontally rotating.
The decelerator (not shown) that described rotating mechanism 40 comprises the second motor 304 and is connected on the second motor 304, the outfan of decelerator is connected on the next stage cradle head bearing 30 in adjacent two cradle head bearings 30.
In the present embodiment, auto-telescopic mechanism 300 comprises three cradle head bearings 30, is defined as the first cradle head bearing 303, second cradle head bearing 302, the 3rd cradle head bearing 301 respectively.The below of the first cradle head bearing 303 is fixed on footstock 211.The top of the first cradle head bearing 303 is fixed with the second motor 304.The side of the second cradle head bearing 302 to embed in the groove 307 of the first cradle head bearing 303 and is arranged on the outfan of the decelerator fixing with the second motor 304.Can realize the second motor 304 thus drives the second cradle head bearing 302 to rotate.3rd motor 305 drives the 3rd cradle head bearing 301 to rotate in the same way.In addition, each joint is provided with extreme position photoswitch, for preoperative back to zero operation and robot security's protection.
The cradle head bearing 30 (i.e. the 3rd cradle head bearing 301) being positioned at end in some described cradle head bearings 30 and be connected with the second driving mechanism 50, second driving mechanism 50 between described RCM mechanism 400 and comprise the 4th motor 306 be arranged in the cradle head bearing 30 of end.The output of the 4th motor 306 is connected to the input of RCM mechanism 400, and the 4th motor 306 can drive RCM mechanism 400 unitary rotation.
Please refer to Fig. 7, described RCM mechanism 400 comprises the head end pedestal 401, end feeding pedestal 409 and four connection rod set 405,406,407,408 that are symmetrical set that are rotationally connected with the end of described auto-telescopic mechanism 300, these four connection rod set 405,406,407,408 and described head end pedestal 401, described end feeding pedestal 409 are together to form two parallel-crank mechanisms be rotationally connected, described head end pedestal 401 inside is provided with the 5th motor (not shown), and described 5th motor drives one of them parallel-crank mechanism to rotate.
Distal movement center (RCM) mechanism is a kind of mechanism utilizing lower-mobility mechanism to realize fixing virtual rotation center.This mechanism to be widely used in Minimally Invasive Surgery and can to improve the safety of operation to a certain extent.
Whole RCM mechanism 400 adopts left and right sides symmetric design, and medium design has support bar 410, in order to strengthen the rigidity of whole mechanism.Each connection rod set 405,406,407,408 comprises three three connecting rods (sign) be rotationally connected successively.This RCM mechanism 400 relates to 7 groups of (14) cradle heads 411 altogether, and each cradle head 411 all adopts duplex bearing to design, and its objective is the precision improving cradle head 411.
5th motor and the 3rd synchronous pulley 402 are fixed together by decelerator (not shown).Between 3rd synchronous pulley 402 and the 4th synchronous pulley 404, Timing Belt (not shown) is installed.Timing Belt both sides are provided with tensioner 403, ensure that the precision of transmission and avoid skidding; Thus, the 5th motor can be realized and drive two degrees of freedom RCM mechanism 400, nasal endoscopes 10 on its central axis a bit (fixing point) is swung in the plane that RCM mechanism 400 is formed.The outfan of the 4th motor 306 is connected on head end pedestal 401.Swinging of RCM mechanism 400 is realized by the 4th motor 306 Direct driver head end pedestal 401.
Realize being rotationally connected with coordinating of groove 41 by protruding 31 on the cradle head bearing 30 of end and between the head end pedestal 401 of RCM mechanism 400.
Please refer to Fig. 8, described automatic end governor motion 500 comprises the guide rail 502 being fixed on described RCM mechanism 400 end, be slidably mounted on the sliding sleeve 504 on described guide rail 502, be fixed on the feed screw nut part 505 on described sliding sleeve 504, be connected to two risers 51 of described guide rail 502 opposite end, to be rotationally connected with between two described risers 51 and the second leading screw 507 be engaged on described feed screw nut part 505, described second leading screw 507 is driven to rotate to drive the 3rd driving mechanism 60 of described feed screw nut part 505 movement, be fixed on the bearing 513 on described feed screw nut part 505, rotate the turntable 512 be installed on described bearing 513, the four-wheel drive mechanism 70 being fixedly connected on the nasal endoscopes folder 511 on described turntable 512 and driving described turntable 512 to rotate.The rotation axis of described turntable 512 is the axis direction of described nasal endoscopes 10.
Further, described 3rd driving mechanism 60 comprises the 6th motor 506, the 5th synchronous pulley 508 be fixed on the output shaft of described 6th motor 506, is fixed on the 6th synchronous pulley 509 on described second leading screw 507 and is sheathed on described 5th synchronous pulley 508 and the first Timing Belt (not shown) on described 6th synchronous pulley 509; Described four-wheel drive mechanism 70 comprises the 7th motor 503 be fixed on described bearing 513, the 7th synchronous pulley 501 be fixed on the output shaft of described 7th motor 503, be fixed on the 8th synchronous pulley 514 on described bearing 513 and be sheathed on described 7th synchronous pulley 501 and the second Timing Belt (not shown) on described 8th synchronous pulley 514.
Automatic end governor motion 500 can realize compensating and end feeding around the nasal endoscopes 10 own axes anglec of rotation.Nasal endoscopes 10 is fixed on nasal endoscopes folder 511, together with nasal endoscopes folder 511 is fixed by screws in turntable 512.Turntable 512 is rotatably connected on nasal endoscopes bearing 513.7th motor 503 is fixed on the side of nasal endoscopes bearing 513.The outfan of described 7th motor 503 is provided with the 7th synchronous pulley 501.7th synchronous pulley 501 and the 8th synchronous pulley 514 are linked together by Timing Belt (not shown).8th synchronous pulley 514 is fixed on turntable 512, and the two can not relatively rotate.Can realize the 7th motor 503 thus drives nasal endoscopes 10 around own axis.
6th motor 506 is fixed on same bearing 513 with guide rail 502.Guide rail sliding sleeve 504 can slide along guide rail 502.Feed screw nut part 505 is fixed on guide rail sliding sleeve 504.Second leading screw 507 is through feed screw nut part 505, and two ends are fixed on described bearing 513 by bearing.5th synchronous pulley 508 and the 6th synchronous pulley 509 are separately fixed at the outfan of the 6th motor 506 and the upper end of the second leading screw 507, and the two passes through toothed belt transmission.Feed screw nut part 505 and nasal endoscopes bearing 513 are fixed together.6th motor 506 can drive the 5th synchronous pulley 508, the 6th synchronous pulley 509 and the second leading screw 507 to rotate thus.Feed screw nut part 505 drives nasal endoscopes 10 to move along guide rail 502 direction, thus realizes the degree of depth feeding of nasal endoscopes 10 end.
Robot of the present invention, through the checking of theory analysis, three-dimensional modeling simulation analysis and model machine in kind, proves feasible.Robot of the present invention is mainly used in nasal endoscopes 10 and performs the operation, and also may be used for the clipping operation of other endoscopies or apparatus.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a trailing type Transnasal endoscopy operation auxiliary robot, it is characterized in that: described trailing type Transnasal endoscopy operation auxiliary robot comprises the guide rail adapter on the guide rail that can adapt to different operation table, to be connected on described guide rail adapter and the automatic hoisting mechanism be elevated on the direction perpendicular to described operation table, be connected to described automatic hoisting mechanism end and auto-telescopic mechanism flexible in the plane being parallel to described operation table, be connected to the binary RCM mechanism of the end of described auto-telescopic mechanism, be connected to the end of described RCM mechanism and drive nasal endoscopes carry out the automatic end governor motion of degree of depth feeding and angle compensation and control described automatic hoisting mechanism, described auto-telescopic mechanism, the controller of described RCM mechanism and the action of described automatic end governor motion.
2. trailing type Transnasal endoscopy operation auxiliary robot as claimed in claim 1, it is characterized in that: the leading screw that described automatic hoisting mechanism comprises the base footstock relative with described base, is arranged at the lifting platform between described base with described footstock, the feed screw nut be fixed on described lifting platform engages with described feed screw nut, be supported in the support column between described lifting platform and described footstock and drive described screw turns to drive the driving mechanism of described lifting of lifting table, an end of described auto-telescopic mechanism is fixed on described footstock.
3. trailing type Transnasal endoscopy operation auxiliary robot as claimed in claim 2, it is characterized in that: described automatic hoisting mechanism also comprises the ball spline pair fixed mount be arranged between described lifting platform and described footstock, the spline rod being fixed on the axle sleeve on described lifting platform and being arranged in described axle sleeve, the opposite end of described spline rod is separately fixed on described ball spline pair fixed mount and described base, the first end of described leading screw is rotationally connected with on described base, second end relative with first end of described leading screw passes described feed screw nut and is fixed on described ball spline pair fixed mount.
4. trailing type Transnasal endoscopy operation auxiliary robot as claimed in claim 3, is characterized in that: described driving mechanism comprises the motor be fixed on described base, is fixedly connected on the first synchronous pulley of the output shaft of described motor, is fixedly connected on the second synchronous pulley on the first end of described leading screw and is sheathed on the Timing Belt on described first synchronous pulley and described second synchronous pulley.
5. trailing type Transnasal endoscopy operation auxiliary robot as claimed in claim 3, is characterized in that: described axle sleeve is several, and axle sleeve described in several is uniformly distributed in around described feed screw nut, and corresponding each described axle sleeve is provided with described spline rod.
6. trailing type Transnasal endoscopy operation auxiliary robot as claimed in claim 1, it is characterized in that: described auto-telescopic mechanism comprises some cradle head bearings of being rotationally connected successively and orders about adjacent two described cradle head bearings rotating mechanism in relative rotation, the cradle head bearing being positioned at head end in some described cradle head bearings is fixed on described automatic hoisting mechanism end, and the cradle head bearing being positioned at end in some described cradle head bearings is rotationally connected with the head end of described RCM mechanism.
7. trailing type Transnasal endoscopy operation auxiliary robot as claimed in claim 1, it is characterized in that: described RCM mechanism comprises the head end pedestal, end feeding pedestal and four connection rod set being symmetrical set that are rotationally connected with the end of described auto-telescopic mechanism, these four connection rod set and described head end pedestal, described end feeding pedestal are together to form two parallel-crank mechanisms be rotationally connected, described head end base interior is provided with motor, and described motor drives one of them parallel-crank mechanism to rotate.
8. trailing type Transnasal endoscopy operation auxiliary robot as claimed in claim 1, it is characterized in that: described automatic end governor motion comprises the guide rail being fixed on described RCM mechanism end, be slidably mounted on the sliding sleeve on described guide rail, be fixed on the feed screw nut part on described sliding sleeve, be connected to two risers of described guide rail opposite end, to be rotationally connected with between two described risers and the leading screw be engaged on described feed screw nut part, drive described screw turns to drive the first driving mechanism of described feed screw nut part movement, be fixed on the bearing on described feed screw nut part, rotate the turntable be installed on described bearing, the second driving mechanism being fixedly connected on the nasal endoscopes folder on described turntable and driving described turntable to rotate.
9. trailing type Transnasal endoscopy operation auxiliary robot as claimed in claim 8, is characterized in that: described first driving mechanism comprises the first motor, the first synchronous pulley be fixed on the output shaft of described first motor, be fixed on the second synchronous pulley on described leading screw and be sheathed on the first Timing Belt on described first synchronous pulley and described second synchronous pulley; Described second driving mechanism comprises the second motor be fixed on described bearing, the 3rd synchronous pulley be fixed on the output shaft of described second motor, be fixed on the 4th synchronous pulley on described bearing and be sheathed on the second Timing Belt on described 3rd synchronous pulley and described 4th synchronous pulley.
10. trailing type Transnasal endoscopy operation auxiliary robot as claimed in claim 1, it is characterized in that: described guide rail adapter comprises U-shaped frame, this U-shaped frame comprises two siding tracks be parallel to each other and the traverse rod be connected between two described siding tracks, described guide rail adapter also comprises and being slidably installed on two described siding tracks and the first slide block be fixedly connected on the edge of described operation table and the second slide block be slidably installed on described traverse rod, described first slide block and described second slide block are individually fixed on described siding track and described traverse rod by two perpendicular direction fixing in time sliding to precalculated position, the bottom of described automatic hoisting mechanism is fixed on described second slide block.
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| CN201510157545.8A CN104783900B (en) | 2015-04-03 | 2015-04-03 | Follow-up type nasal endoscope operation auxiliary robot |
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| CN201510157545.8A CN104783900B (en) | 2015-04-03 | 2015-04-03 | Follow-up type nasal endoscope operation auxiliary robot |
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| CN104783900B CN104783900B (en) | 2017-02-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105345812A (en) * | 2015-12-24 | 2016-02-24 | 哈尔滨工业大学 | Spatial translational parallel mechanism capable of realizing partial decoupling |
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