CN104783900B - Follow-up type nasal endoscope operation auxiliary robot - Google Patents
Follow-up type nasal endoscope operation auxiliary robot Download PDFInfo
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- CN104783900B CN104783900B CN201510157545.8A CN201510157545A CN104783900B CN 104783900 B CN104783900 B CN 104783900B CN 201510157545 A CN201510157545 A CN 201510157545A CN 104783900 B CN104783900 B CN 104783900B
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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, more particularly, to a kind of trailing type Transnasal endoscopy operation auxiliary robot.
Background technology
To remove nasal cavity focus, recovery nasal airflow is main purpose to Transnasal endoscopy operation.Traditional Transnasal endoscopy operation mode
For the left hand mirror of operative doctor, the right hand is operated, and this modus operandi has problems with：
First, operative doctor needs one handle holds nasal endoscopes, therefore its only one hands can carry out other operation behaviour
Make, and one-handed performance has a lot of limitation, some complex operations (as excision operation) one hand is difficult to complete, and needs bimanualness.
And when needing bimanualness, doctor often relies on assistant Lai Chijing, and the communication between doctor and assistant, coordination are also one
Problem；
Second, staff is held mirror for a long time and can be led to operative doctor aching pain of muscles it is difficult to keep operational stability for a long time, easily
Cause picture weave of performing the operation, cause maloperation, these are all unfavorable for that performs the operation is smoothed out, and also can cause volume to patient when serious
Outer wound.
Left hand in order to solve the problems, such as doctor holds mirror for a long time it is proposed that auxiliary doctor to clamp the device of nasal endoscopes, existing
Some passive type nasal endoscopes clamping devices often using pneumatically or hydraulically to realize joint lock although doctor's left hand can be replaced to hold
Mirror, but can not accomplish complete trackability, needs the position of doctor's frequent de-regulation mechanical arm, attitude adjusting in operation process
The whole nasal endoscopes visual field, adjustment process is loaded down with trivial details；During adjustment, joint pine occurs during closing and rocks, and affects surgical field of view.
Existing trailing type Transnasal endoscopy operation auxiliary robot complex structure, relatively costly and volume is big, limited
In operative space, robot is easily interfered with each other with operating theater instruments.
Content of the invention
It is an object of the invention to provide a kind of trailing type Transnasal endoscopy operation auxiliary robot is it is intended to solve in prior art
The operation confinement problems that the modus operandi of the hand-held nasal endoscopes existing is brought.
The present invention is achieved in that a kind of trailing type Transnasal endoscopy operation auxiliary robot, and it includes adapting to difference
Guide rail adapter on the guide rail of operation table, it is connected on described guide rail adapter and on the direction perpendicular to described operation table
The automatic hoisting mechanism of lifting, it is connected to described automatic hoisting mechanism end and flexible in the plane parallel to described operation table
Auto-telescopic mechanism, be connected to the binary RCM mechanism of end of described auto-telescopic mechanism, be connected to described RCM
The end of mechanism and drive nasal endoscopes carry out the automatic end governor motion of depth feeding and angle compensation and control described automatically
Elevating mechanism, the controller of described auto-telescopic mechanism, described RCM mechanism and described automatic end governor motion action.
Further, described automatic hoisting mechanism includes the base footstock relative with described base, is arranged at described base
Leading screw that lifting platform between described footstock, the feed screw nut being fixed on described lifting platform are engaged with described feed screw nut,
It is supported in the support column between described lifting platform and described footstock and drive described leading screw to rotate to drive described lifting of lifting table
Drive mechanism, the one end of described auto-telescopic mechanism is fixed on described footstock.
Further, described automatic hoisting mechanism also includes the ball flower being arranged between described lifting platform and described footstock
Key pair fixed mount, the axle sleeve being fixed on described lifting platform and be arranged in spline rod in described axle sleeve, the phase of described spline rod
Two ends are separately fixed on described ball spline pair fixed mount and described base, the first end of described leading screw is rotationally connected with institute
State on base, second end relative with first end of described leading screw passes through described feed screw nut and be fixed on described ball spline pair
On fixed mount.
Further, described drive mechanism includes being fixed on described base motor, it is fixedly connected on described motor
First synchronous pulley of output shaft, the second synchronous pulley being fixedly connected in the first end of described leading screw and be sheathed on described
Timing Belt on one synchronous pulley and described second synchronous pulley.
Further, described axle sleeve is several, and several described axle sleeves are uniformly distributed in around described feed screw nut,
Each described axle sleeve corresponding is provided with described spline rod.
Further, described auto-telescopic mechanism includes rotating some cradle head bearings of connection successively and orders about adjacent
The rotating mechanism that two described cradle head bearings relatively rotate, the rotation positioned at head end in some described cradle head bearings
Joint seating is fixed on described automatic hoisting mechanism end, the cradle head positioned at end in some described cradle head bearings
Bearing is rotationally connected with the head end of described RCM mechanism.
Further, described RCM mechanism includes head end pedestal, the end being connected with the end rotation of described auto-telescopic mechanism
End feeding pedestal and four connection rod set being symmetrical set, this four connection rod set and described head end pedestal, the feeding of described end
Pedestal is together to form two and rotates the parallel-crank mechanism connecting, and described head end base interior is provided with motor, described electricity
Machine drives one of parallel-crank mechanism to rotate.
Further, described automatic end governor motion includes being fixed on the guide rail of described RCM mechanism end, is slidably installed
In the sliding sleeve on described guide rail, the feed screw nut part that is fixed on described sliding sleeve, it is connected to two of described guide rail opposite end
Riser, the leading screw being rotationally connected between two described risers and being engaged on described feed screw nut part, the described leading screw of driving turn
Move with the first drive mechanism driving described feed screw nut part movement, the bearing being fixed on described feed screw nut part, rotate peace
The turntable being loaded on described bearing, the nasal endoscopes folder being fixedly connected on described turntable and the described turntable of driving rotate
Second drive mechanism.
Further, described first drive mechanism includes the first motor, on the output shaft that is fixed on described first motor
First synchronous pulley, the second synchronous pulley being fixed on described leading screw and be sheathed on described first synchronous pulley and described second
The first Timing Belt on synchronous pulley；The second motor that described second drive mechanism includes being fixed on described bearing, it is fixed on
The 3rd synchronous pulley on the output shaft of described second motor, the 4th synchronous pulley being fixed on described bearing and be sheathed on institute
State the second Timing Belt on the 3rd synchronous pulley and described 4th synchronous pulley.
Further, described guide rail adapter includes U-shaped frame, and this U-shaped frame includes two siding tracks being parallel to each other and connection
Traverse rod between two described siding tracks, described guide rail adapter also includes being slidably mounted on two described siding tracks and fixing
The first slide block of being connected on the edge of described operation table and be slidably mounted at the second slide block on described traverse rod, described first
Slide block and described second slide block pass through when sliding to precalculated position in two perpendicular direction fix and described in being individually fixed in
On siding track and described traverse rod, the bottom of described automatic hoisting mechanism is fixed on described second slide block.
The present invention proposes a on the basis of the weak point analyzing existing operative model and existing technologies presence
Trailing type Transnasal endoscopy operation auxiliary robot.This trailing type Transnasal endoscopy operation auxiliary robot replaces doctor to hold nose in operation
Scope, and follow operating theater instruments and adjusted so that automatic, stable being presented in face of doctor of surgical field of view moderately and at the right moment, solution
Put the left hand of doctor, change one-handed performance is bimanualness, the picture weave occurring in solving the problems, such as to perform the operation is moreover it is possible to move robot
Make stable, accurate positioning, compact conformation, safe and reliable advantage are combined with the experience of operative doctor, thus improving operation
Quality, reduces the labor intensity of doctor, reduces complication.
Brief description
Fig. 1 is the structural representation that trailing type Transnasal endoscopy operation auxiliary robot provided in an embodiment of the present invention is in use
Figure.
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 trailing type Transnasal endoscopy operation auxiliary robot of Fig. 1.
Fig. 4 is the three-dimensional structure diagram of the automatic hoisting mechanism of trailing type Transnasal endoscopy operation auxiliary robot of Fig. 1.
Fig. 5 is that the automatic hoisting mechanism of the trailing type Transnasal endoscopy operation auxiliary robot of Fig. 4 removes the three-dimensional knot after shell
Composition.
Fig. 6 is the three-dimensional structure diagram of the auto-telescopic mechanism of trailing type Transnasal endoscopy operation auxiliary robot of Fig. 1.
Fig. 7 is the three-dimensional structure diagram of the RCM mechanism of 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 trailing type Transnasal endoscopy operation auxiliary robot of Fig. 1.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, and
It is not used in the restriction present invention.It should be noted that " first ", " second " ... of being related in the description etc. is related to the word of quantity
It is for distinguishing the part that each has identical function, protection domain can't have been limited.
Refer to Fig. 1 and Fig. 2, trailing type Transnasal endoscopy operation auxiliary robot provided in an embodiment of the present invention includes being adapted to
In the guide rail adapter 100 on the guide rail of different operation tables 105, it is connected on described guide rail adapter 100 and perpendicular to institute
State the automatic hoisting mechanism 200 of lifting on the direction of operation table 105, be connected to described automatic hoisting mechanism 200 end and flat
The flexible auto-telescopic mechanism 300 in the plane of described operation table 105 of row, it is connected to the end of described auto-telescopic mechanism 300
End binary RCM mechanism 400, be connected to described RCM mechanism 400 end and drive nasal endoscopes 10 carry out depth feeding
And angle compensation automatic end governor motion 500 and control described automatic hoisting mechanism 200, described auto-telescopic mechanism 300,
Described RCM mechanism 400 and the controller (not shown) of described automatic end governor motion 500 action.
The present invention proposes a on the basis of the weak point analyzing existing operative model and existing technologies presence
Trailing type Transnasal endoscopy operation auxiliary robot.This trailing type Transnasal endoscopy operation auxiliary robot replaces doctor to hold nose in operation
Scope 10, and follow operating theater instruments adjusted moderately and at the right moment so that surgical field of view automatic, stable be presented in face of doctor,
The left hand of liberation doctor, changes one-handed performance is bimanualness, solves the problems, such as the picture weave that occurs in operation moreover it is possible to by robot
Having stable behavior, accurate positioning, compact conformation, safe and reliable advantage are combined with the experience of operative doctor, thus improving handss
Art quality, reduces the labor intensity of doctor, reduces complication.
Guide rail adapter 100 is used for robot body is securely fixed in the correct position of operation table 105 guide rail.
Automatic hoisting mechanism 200 and auto-telescopic mechanism 300 are mainly used in preoperative initialization robot location, to nose in art
Scope 10 carries out position adjustment, and targeted surgical region is delivered in nasal endoscopes 10 end；
RCM mechanism 400 and automatic end governor motion 500 are mainly used in adjusting in preoperative initialization robot pose and art
Robot pose, so that operative doctor is able to observe that the nasal cavity structure of complexity.
Please refer to Fig. 3, described guide rail adapter 100 includes U-shaped frame 103, and this U-shaped frame 103 includes being parallel to each other
Two siding tracks 104 and be connected to traverse rod 106 between two described siding tracks 104, described guide rail adapter 100 is also included slidably
It is installed on two described siding tracks 104 and is fixedly connected on the first slide block 101 on the edge of described operation table 105 and slidably
It is installed on the second slide block 102 on described traverse rod 106, described first slide block 101 and described second slide block 102 are in sliding to pre-determined bit
By fixing and be individually fixed on described siding track 104 and described traverse rod 106 in two perpendicular direction when putting, described automatically
The bottom of elevating mechanism 200 is fixed on described second slide block 102.
The effect of the first slide block 101 is to be fixed together the guide rail of U-shaped frame 103 and operation table 105 both sides, operation
The guide rail of bed 105 both sides respectively has first slide block 101.First slide block 101 is sliding with the fixation of operation table 105 guide rail and first
Block 101 is fixed from the outside of operation table 105 and the downside of guide rail by two groups of screws respectively with the fixation of U-shaped frame 103, will
This fixed form realizes fixation in two perpendicular direction.First slide block 101 can be well by U-shaped frame 103 and operation table
105 guide rails are fixed together it is ensured that the stability of robot base.The effect of the second slide block 102 is by whole robot and U
Shape frame 103 is fixed together.
Please refer to Fig. 4 and Fig. 5, it is relative with described base 204 that described automatic hoisting mechanism 200 includes base 204
Footstock 211, the lifting platform 207 being arranged between described base 204 and described footstock 211, it is fixed on described lifting platform 207
Leading screw 205 that feed screw nut 212 is engaged with described feed screw nut 212, be supported in described lifting platform 207 and described footstock 211 it
Between support column 210 and drive described leading screw 205 to rotate to drive the first drive mechanism of described lifting platform 207 lifting, described
The one end of auto-telescopic mechanism 300 is fixed on described footstock 211.Pass through merely the rotation of leading screw 205, drive lifting platform
207 move up and down, then moving up and down of footstock 211 is driven by the support column 210 on lifting platform 207, you can drive automatically
Telescoping mechanism 300 moves up and down.
In order that the lifting of automatic hoisting mechanism 200 is more steady, smooth, described automatic hoisting mechanism 200 also includes setting
It is placed in the ball spline pair fixed mount 209 between described lifting platform 207 and described footstock 211, be fixed on described lifting platform 207
Axle sleeve 208 and be arranged in spline rod 206 in described axle sleeve 208, the opposite end of described spline rod 206 is separately fixed at institute
State on ball spline pair fixed mount 209 and described base 204, the first end of described leading screw 205 is rotationally connected with described base 204
On, second end relative with first end of described leading screw 205 passes through described feed screw nut 212 and is fixed on described ball spline pair
On fixed mount 209.
Further, described axle sleeve 208 is several, and several described axle sleeves 208 are uniformly distributed in described feed screw nut
212 around, and each described axle sleeve 208 corresponding is provided with described spline rod 206.In the present embodiment, axle sleeve 208 is three,
Spline rod 206 is also three.
The first motor 201 that described first drive mechanism includes being fixed on described base 204, it is fixedly connected on described
First synchronous pulley 202 of the output shaft of one motor 201, second being fixedly connected in the first end of described leading screw 205 are synchronous
Belt wheel 203 and be sheathed on the Timing Belt (not shown) on described first synchronous pulley 202 and 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.First synchronous pulley 202 and the rotation of the first motor 201
Axle is relatively unrotatable.Second synchronous pulley 203 is fixed on leading screw 205 bottom, the two nor relatively rotate.First Timing Belt
Pass through Timing Belt synchronous axial system between wheel 202 and the second synchronous pulley 203.Leading screw 205 is arranged on base 204 by rolling bearing
On.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 in silk
On thick stick 205, and it 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 balls
Hub splines 208 is uniformly fixed on lifting platform 207, and is linked in respectively on the spline rod 206 of three ball spline pair.Rise
Fall platform 207 can move up and down along the spline rod 206 of ball spline pair with ball spline axle sleeve 208.
The effect of ball spline pair mainly has at 2 points：(1) it is used for limiting lifting platform 207 circumferential movement；(2) to described automatic
Telescoping mechanism 300, described RCM mechanism 400 and described automatic end governor motion 500 3 great institutions play a supportive role；Lifting platform
Equably it is fixed with three support columns 210 on 207.The other end of support column 210 is fixed on footstock 211.First shell 213 He
Second housing 214 is separately fixed on base 204 and lifting platform 207.
The operation principle of automatic hoisting mechanism 200 is as follows：First motor 201 drives the first synchronous pulley 202 to rotate.Pass through
Timing Belt transmits motion on the second synchronous pulley 203.Second synchronous pulley 203 drives leading screw 205 to rotate, with leading screw 205
The feed screw nut 212 drive lifting platform 207 of cooperation moves up and down along the spline rod 206 of ball spline pair.Footstock 211 follows lifting
Platform 207 moves up and down together, it is achieved thereby that the adjustment of nasal endoscopes 10 in the vertical direction position.
Please refer to Fig. 6, described auto-telescopic mechanism 300 includes some cradle head bearings 30 rotating connection successively
And order about the rotating mechanism 40 that two neighboring described cradle head bearing 30 relatively rotates, in some described cradle head bearings 30
The cradle head bearing 30 positioned at head end be fixed on described automatic hoisting mechanism 200 end, some described cradle head bearings
The cradle head bearing 30 positioned at end in 30 is rotationally connected with the head end of described RCM mechanism 400.Some described cradle heads
The cradle head bearing 30 positioned at head end in bearing 30 is fixed on footstock 211.Rotation between cradle head bearing 30 is
Horizontally rotate.
Described rotating mechanism 40 includes the second motor 304 and is connected to decelerator (not shown) on the second motor 304, subtracts
The outfan of fast device is connected on the next stage cradle head bearing 30 in two neighboring cradle head bearing 30.
In the present embodiment, auto-telescopic mechanism 300 comprises three cradle head bearings 30, is respectively defined as the first rotation
Joint seating 303, the second cradle head bearing 302, the 3rd cradle head bearing 301.The lower section of the first cradle head bearing 303
It is fixed on footstock 211.First cradle head bearing 303 be fixedly arranged above the second motor 304.Second cradle head bearing
302 side embeds in the groove 307 of the first cradle head bearing 303 and is arranged on the decelerator fixing with the second motor 304
Outfan.The second motor 304 thus can be realized drives the second cradle head bearing 302 to rotate.3rd motor 305 is with same
Mode drive the 3rd cradle head bearing 301 to rotate.In addition, each joint is provided with extreme position photoswitch, is used for
Preoperative back to zero operation and robot security's protection.
Cradle head bearing 30 (i.e. the 3rd cradle head bearing positioned at end in some described cradle head bearings 30
301) it is connected with the second drive mechanism 50 and described RCM mechanism 400 between, the second drive mechanism 50 includes being arranged at turning of end
The 4th motor 306 in movable joint bearing 30.The output of the 4th motor 306 is connected to the input of RCM mechanism 400, the 4th motor
306 can drive RCM mechanism 400 unitary rotation.
Please refer to Fig. 7, described RCM mechanism 400 is included being rotated with the end of described auto-telescopic mechanism 300 and is connected
Head end pedestal 401, end feed pedestal 409 and four connection rod set 405,406,407,408 being symmetrical set, this four companies
Bar group 405,406,407,408 is together to form two companies of rotation with described head end pedestal 401, described end feeding pedestal 409
The parallel-crank mechanism connecing, is provided with the 5th motor (not shown), described 5th Motor drive inside described head end pedestal 401
One of parallel-crank mechanism rotates.
Distal movement center (RCM) mechanism is the machine that a kind of utilization lower-mobility mechanism realizes fixing virtual rotation center
Structure.This mechanism is widely used in Minimally Invasive Surgery and can 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 whole machine
The rigidity of structure.Each connection rod set 405,406,407,408 includes three three connecting rods (sign) rotating connection successively.Should
RCM mechanism 400 is related to 7 groups of (14) cradle heads 411 altogether, and each cradle head 411 is all designed using duplex bearing, its objective is
Improve the precision of cradle head 411.
5th motor and the 3rd synchronous pulley 402 are fixed together by decelerator (not shown).3rd synchronous pulley 402
And the 4th synchronous pulley 404 between, Timing Belt (not shown) is installed.Timing Belt both sides be provided with tensioner 403 it is ensured that
The precision of transmission and avoid skidding；Thus, it is possible to realize the 5th Motor drive two degrees of freedom RCM mechanism 400, make intranasal
Mirror 10 in its center axis a bit (fixing point) swings in the plane that RCM mechanism 400 is formed.The output of the 4th motor 306
End is connected on head end pedestal 401.Swinging of RCM mechanism 400 directly drives head end pedestal 401 in fact by the 4th motor 306
Existing.
Raised 31 and groove 41 are passed through and the head end pedestal 401 of RCM mechanism 400 between on the cradle head bearing 30 of end
Cooperation come to realize rotate connect.
Please refer to Fig. 8, described automatic end governor motion 500 includes being fixed on leading of described RCM mechanism 400 end
Rail 502, the sliding sleeve 504 being slidably mounted on described guide rail 502, the feed screw nut part 505 being fixed on described sliding sleeve 504, company
It is connected to two risers 51 of described guide rail 502 opposite end, is rotationally connected between two described risers 51 and be engaged in described
The second leading screw 507 on feed screw nut part 505, described second leading screw 507 of driving rotate to drive described feed screw nut part 505 to move
Dynamic the 3rd drive mechanism 60, the bearing 513 being fixed on described feed screw nut part 505, rotate and be installed on described bearing 513
Turntable 512, the nasal endoscopes folder 511 being fixedly connected on described turntable 512 and drive that described turntable 512 rotates the
Four drive mechanisms 70.The rotation axiss of described turntable 512 are the axis direction of described nasal endoscopes 10.
Further, described 3rd drive mechanism 60 includes the 6th motor 506, is fixed on the defeated of described 6th motor 506
The 5th synchronous pulley 508 on shaft, the 6th synchronous pulley 509 being fixed on described second leading screw 507 and be sheathed on described
The first Timing Belt (not shown) on 5th synchronous pulley 508 and described 6th synchronous pulley 509；Described 4th drive mechanism 70
Including the 7th motor 503 being fixed on described bearing 513, be fixed on the output shaft of described 7th motor 503 the 7th with
Walk belt wheel 501, the 8th synchronous pulley 514 being fixed on described bearing 513 and be sheathed on described 7th synchronous pulley 501 and institute
State the second Timing Belt (not shown) on the 8th synchronous pulley 514.
Automatic end governor motion 500 can be realized compensating around the nasal endoscopes 10 own axes anglec of rotation and end feeding.
Nasal endoscopes 10 be fixed on nasal endoscopes folder 511 on, nasal endoscopes folder 511 be fixed by screws in turntable 512 together with.Turntable
512 are rotatably connected on nasal endoscopes bearing 513.7th motor 503 is fixed on the side of nasal endoscopes bearing 513.Described
The outfan of seven motors 503 is provided with the 7th synchronous pulley 501.7th synchronous pulley 501 and the 8th synchronous pulley 514 are by same
Step band (not shown) links together.8th synchronous pulley 514 is fixed on turntable 512, and the two is relatively unrotatable.
The 7th motor 503 thus can be realized and drive 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.Silk
Thick stick nut piece 505 is fixed on guide rail sliding sleeve 504.Second leading screw 507 passes through feed screw nut part 505, and two ends are fixed by bearing
On described bearing 513.5th synchronous pulley 508 and the 6th synchronous pulley 509 are separately fixed at the outfan of the 6th motor 506
With the upper end of the second leading screw 507, the two passes through toothed belt transmission.Feed screw nut part 505 and nasal endoscopes bearing 513 are connected in one
Rise.Thus the 6th motor 506 can drive the 5th synchronous pulley 508, the 6th synchronous pulley 509 and the second leading screw 507 to rotate.Silk
Thick stick nut piece 505 drives nasal endoscopes 10 to move along guide rail 502 direction, thus realizing the depth feeding of nasal endoscopes 10 end.
The robot of the present invention is through the checking of theory analysis, three-dimensional modeling simulation analysis and model machine it was demonstrated that feasible.This
The robot of invention is mainly used in nasal endoscopes 10 and performs the operation it is also possible to be used for the clipping operation of other endoscopies or apparatus.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (9)
1. a kind of trailing type Transnasal endoscopy operation auxiliary robot it is characterised in that：Described trailing type Transnasal endoscopy operation auxiliary machinery
People include adapting to guide rail adapter on the guide rail of different operation tables, be connected on described guide rail adapter and perpendicular to
On the direction of described operation table lifting automatic hoisting mechanism, be connected to described automatic hoisting mechanism end and parallel to described
The auto-telescopic mechanism stretching in the plane of operation table, the binary RCM of the end being connected to described auto-telescopic mechanism
Mechanism, the end being connected to described RCM mechanism and drive nasal endoscopes carry out depth feeding and the automatic end of angle compensation is adjusted
Mechanism and the described automatic hoisting mechanism of control, described auto-telescopic mechanism, described RCM mechanism and described automatic end governor motion
The controller of action, described automatic end governor motion includes being fixed on the guide rail of described RCM mechanism end, is slidably mounted on institute
State the sliding sleeve on guide rail, the feed screw nut part being fixed on described sliding sleeve, be connected to described guide rail opposite end two risers,
It is rotationally connected between two described risers and is engaged in the leading screw on described feed screw nut part, drive described leading screw to rotate to carry
The first drive mechanism moving described feed screw nut part movement, the bearing being fixed on described feed screw nut part, rotation are installed on institute
The second drive stated the turntable on bearing, the nasal endoscopes being fixedly connected on described turntable folder and drive described turntable to rotate
Motivation structure.
2. trailing type Transnasal endoscopy operation auxiliary robot as claimed in claim 1 it is characterised in that：Described automatic hoisting mechanism
The lifting platform that including the base footstock relative with described base, is arranged between described base and described footstock, be fixed on described
Leading screw that feed screw nut on lifting platform is engaged with described feed screw nut, it is supported between described lifting platform and described footstock
Support column and the described leading screw of driving rotate to drive the drive mechanism of described lifting of lifting table, one end of described auto-telescopic mechanism
Portion is fixed on described footstock.
3. trailing type Transnasal endoscopy operation auxiliary robot as claimed in claim 2 it is characterised in that：Described automatic hoisting mechanism
Also include the ball spline pair fixed mount being arranged between described lifting platform and described footstock, the axle being fixed on described lifting platform
Cover and be arranged in the spline rod in described axle sleeve, the opposite end of described spline rod is separately fixed at described ball spline pair and fixes
On frame and described base, the first end of described leading screw is rotationally connected with described base, described leading screw relative with first end
Second end passes through 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 it is characterised in that：Described drive mechanism includes
The motor being fixed on described base, the first synchronous pulley of the output shaft being fixedly connected on described motor, it is fixedly connected on institute
State the second synchronous pulley in the first end of leading screw and be sheathed on described first synchronous pulley and described second synchronous pulley
Timing Belt.
5. trailing type Transnasal endoscopy operation auxiliary robot as claimed in claim 3 it is characterised in that：Described axle sleeve is some
Individual, several described axle sleeves are uniformly distributed in around described feed screw nut, and each described axle sleeve corresponding is provided with described spline
Bar.
6. trailing type Transnasal endoscopy operation auxiliary robot as claimed in claim 1 it is characterised in that：Described auto-telescopic mechanism
Including some cradle head bearings rotating connection successively and turning of ordering about that two neighboring described cradle head bearing relatively rotates
Motivation structure, the cradle head bearing positioned at head end in some described cradle head bearings is fixed on described automatic hoisting mechanism end
End, the cradle head bearing 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 characterised in that：Described RCM mechanism includes
The head end pedestal being connected, end feed pedestal and four companies being symmetrical set with the end rotation of described auto-telescopic mechanism
Bar group, this four connection rod set feed pedestal with described head end pedestal, described end and are together to form the parallel of two rotation connections
Quadrangular mechanism, described head end base interior is provided with motor, and the one of parallel-crank mechanism of described Motor drive rotates.
8. trailing type Transnasal endoscopy operation auxiliary robot as claimed in claim 1 it is characterised in that：Described first drive mechanism
The first synchronous pulley including the first motor, on the output shaft that is fixed on described first motor, being fixed on described leading screw
Two synchronous pulleys and be sheathed on the first Timing Belt on described first synchronous pulley and described second synchronous pulley；Described second drive
Motivation structure includes the second motor being fixed on described bearing, the 3rd Timing Belt on the output shaft being fixed on described second motor
Wheel, the 4th synchronous pulley that is fixed on described bearing and be sheathed on described 3rd synchronous pulley and described 4th synchronous pulley
The second Timing Belt.
9. trailing type Transnasal endoscopy operation auxiliary robot as claimed in claim 1 it is characterised in that：Described guide rail adapter bag
Include U-shaped frame, this U-shaped frame includes two siding tracks being parallel to each other and is connected to traverse rod between two described siding tracks, described guide rail
On edge first that adapter also includes be slidably mounted on two described siding tracks and be fixedly connected on described operation table is sliding
Block and be slidably mounted at the second slide block on described traverse rod, described first slide block and described second slide block are in sliding to precalculated position
When by fixing and be individually fixed on described siding track and described traverse rod, described automatic hoisting mechanism in two perpendicular direction
Bottom be fixed on described second slide block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510157545.8A CN104783900B (en) | 2015-04-03 | 2015-04-03 | Follow-up type nasal endoscope operation auxiliary robot |
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