CN1730245A - Accessory manipulation of throat surgery robot - Google Patents
Accessory manipulation of throat surgery robot Download PDFInfo
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- CN1730245A CN1730245A CN 200510014709 CN200510014709A CN1730245A CN 1730245 A CN1730245 A CN 1730245A CN 200510014709 CN200510014709 CN 200510014709 CN 200510014709 A CN200510014709 A CN 200510014709A CN 1730245 A CN1730245 A CN 1730245A
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Abstract
The invention discloses an accessory operation hand for throat operation robot, which comprises a finger arc motion joint mechanism, an arc guide rail rotation joint mechanism, a first and second front arm rotation joint mechanism, a back arm rotation joint mechanism, a vertical position regulation mechanism, a synchronous tooth-type belt wheel mechanism, and a steel wheel mechanism. Compared with existing technique, this invention has advantage that, the mechanism is joint-type coordination structure with eight degrees of freedom to complete all motions flexibly; the double swing lever mechanism lets the robot gesture constant when the work point varies to realize the decouple of position and gesture; the double-stage thread-gear structure decreases the volume and weight; the hand coarse adjustment can position quickly, and the fine tuning mechanism makes system has the precision fit for micro-surgery.
Description
Technical field
The present invention relates to a kind of laryngeal surgery robot, the invention particularly relates to a kind of accessory manipulation of throat surgery robot.
Background technology
Medical robot have accurate positioning, stable, dexterity is strong, working range greatly, advantage such as Keep away from radioactive and infection not.The Medical Robot not only can assist a physician and finish the accurate location of operative site, and can realize the minimal damage of performing the operation, and improves the precision and the quality of medical diagnosis on disease, operative treatment, improves operation safety, shortens treatment time, reduces medical treatment cost.Its research 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.
At present, surgical operation robot generally adopts principal and subordinate's remote operation mode.The use of surgical operation robot, help to improve the precision of surgeon's operation, the feedback of the vibration of solution surgeon hand, fatigue, muscle nerve, make doctor's operation that can under the state of the most comfortable, undergo surgery, for improving success rate of operation, alleviating the patient suffering and have important value.Successfully be used at present in the operations such as minimally invasive surgery, ophthalmology, orthopaedics.
Up to now, Leonardo da Vinci system and the Zeus system that has obtained U.S. FDA authentication is the micro-wound surgical operation canonical system.At the microsurgery robot system aspects, Tokyo Univ Japan has realized remote operation by the internet net, and the enforcement beyond the 700km experiment of 1mm vascular suture.But this system can not the esthesis feedback information in doctor's operating process.The medical robot of domestic independent research mainly is at the surgery location, as BJ University of Aeronautics ﹠ Astronautics and the cranial surgery placed machine robot system of Navy General Hospital joint development and " highly skilled man " microsurgical system of University Of Tianjin's independent development etc.In addition, also obtain certain achievement at aspects such as medical endoscopes.But these achievements at the operation technique of dark chamber small space, are not performed the operation as ear nose larynx.
In present operation on larynx, the doctor generally adopts modus operandi under direct laryngoscope, indirect laryngoscope, supporting laryngoscope and the fiberoptic laryngoscope.Wherein down operation of fiberoptic laryngoscope, patient's no pain can undergo surgery to the pathology than concealment part, as the Hilton, preceding unite and glottis under little pathology, but to extensively pathology such as Rectal sessile polyps, vocal cords extensive edema polyp etc. can not all be extractd.Supporting laryngoscope is operation down, operation accurately, but patient's bimanualness be used under the surgical operation microscope, it is even more ideal to perform the operation; But doctor's operation is generally formula on one knee, operates very uncomfortable; Though can adopt bimanualness, because the restriction of instrument itself, both hands are often interfered during operation, bring very big puzzlement to doctor's operation.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of accessory manipulation of throat surgery robot is provided, this mechanism is an articulated type coordinate structure, has 8 frees degree, can finish comings and goings, the operation light and flexible; The application of double-four link mechanism, attitude remains unchanged when making the operating point change in location of robot, thus the frame for movement that has realized position and attitude is separated idol; Adopt two-stage silk drive mechanism, promptly reduced mechanism's spatial volume and alleviated the weight of mechanism again; Adopted the approximately equalised structure of both arms length, make space realization maximization; The initiatively application of joint timing belt transmission makes motor postposition, and promptly the terminal suffered moment of mitigation system can guarantee the motion control precision in joint again; Coarse adjustment and accurate adjustment are separated, and can locate fast by manual coarse adjustment; Fine-tuning mechanism makes system have the precision of carrying out micrurgy.
The present invention is achieved by the following technical solutions.
Accessory manipulation of throat surgery robot, it is provided with finger circular motion articulation mechanism, arc-shaped guide rail rotary joint mechanism, the first forearm rotary joint mechanism, the second forearm rotary joint mechanism, big arm rotary joint mechanism, the vertical direction position adjusting mechanism, timing belt wheel mechanism and wire wheel mechanism, the lock ring of first motor and holding finger is arranged on first gripper shoe in the described finger circular motion articulation mechanism, described first gripper shoe is connected with the slide block of arc-shaped guide rail, the guide rail of described arc-shaped guide rail is connected with the arc-shaped guide rail support by the tooth fan, described first motor shaft is provided with pinion, described pinion and the engagement of tooth fan; The power sensor is fixedly set between described arc-shaped guide rail support and the rotation power transmission shaft in the described arc-shaped guide rail rotary joint mechanism, described rotation power transmission shaft passes axis of rotation bearing and is connected with the axle of second motor with rotation shaft joint slide block by the rotation shaft joint, described second motor is connected with axis of rotation bearing by the spinning motor support, described rotation power transmission shaft outer cover is equipped with spacer, the end is set with bearing, and described axis of rotation bearing is fixed with the rotation bearing cap; First forearm, one end is connected with the attitude mechanism rack by the first arm front rotary shaft in the described first forearm rotary joint mechanism, the described first forearm other end by the first arm after rotating shaft be connected with transition frame, the two ends of rotating shaft are provided with bearing behind described the first arm front rotary shaft and the first arm, described transition frame is provided with the 3rd motor, and described two wire wheels are connected by steel wire; In the described second forearm rotary joint mechanism second forearm, one end by second arm after rotating shaft be connected with big arm, the described second forearm other end is connected with transition frame by the second arm front rotary shaft, the two ends of rotating shaft are provided with bearing behind the described second arm front rotary shaft and second arm, described two wire wheels are connected by steel wire, second gripper shoe is fixed on the wire wheel, simply supported slab is provided with pillar, and the top of described pillar withstands on second gripper shoe; In the described big arm rotary joint mechanism big arm by big arm after rotating shaft be connected with big arm support, positioning disk is connected with arm support greatly, described positioning disk is provided with bearing pin, described big arm is provided with the 4th motor; The 5th motor is fixed on the vertical support frame in the described vertical direction position adjusting mechanism, described vertical support frame is fixed on the vertical base plate, described the 5th motor is by vertical shaft joint, vertical slipper is connected with vertical turn-screw, described vertical turn-screw both ends are set with bearing and pass the vertical axis bearing, described vertical axis bearing is fixed on the vertical base plate, described vertical axis bearing end is fixed with vertical bearing cap, described vertical base plate is connected with the vertical guide rail plate by guide rail slide block and guide rail, vertical transmission nut is fixed on the vertical guide rail plate by vertical adjusting pad, and vertical turn-screw is by vertical transmission nut; Big arm links to each other with described vertical guide rail plate by big arm support in the described big arm rotary joint mechanism; Described timing belt wheel mechanism is made up of the first flute profile belt wheel, the second flute profile belt wheel, the 3rd flute profile belt wheel and the 4th flute profile belt wheel and regulating wheel, the described first flute profile belt wheel is arranged on behind the first arm in the rotating shaft, described the 4th flute profile belt wheel is arranged on the 3rd motor output shaft, the described second flute profile belt wheel is arranged on behind second arm in the rotating shaft, and described the 3rd flute profile belt wheel is arranged on the 4th motor output shaft; Described wire wheel mechanism comprises first, second, third, fourth wire wheel, described first wire wheel and attitude-adjusting system support are fixedly linked, described second wire wheel is fixed on the described transition frame, described first, second wire wheel is connected by steel wire, described the 3rd wire wheel is fixed on the described transition frame, described the 4th wire wheel is fixed on the bearing cap of rotating shaft behind second arm, and described the 3rd, the 4th wire wheel is connected by steel wire; Described big arm bottom is provided with base plate, described base plate is provided with groove, described regulating wheel is fixed in the base plate groove by the little axle in it, the two ends of described arc-shaped guide rail are respectively arranged with the swing limit switch, end near described arc-shaped guide rail support on the rotation power transmission shaft in the described arc-shaped guide rail rotary joint mechanism is fixed with the rotation limited block, described axis of rotation bearing is fixed on the described attitude mechanism rack, the radius of described arc guide rail is 250mm-350mm, the angle of described arc guide rail is 20 °-40 °, and the angle of described attitude mechanism rack and horizontal axis is 20 °-40 °.
The present invention compared with prior art has the following advantages:
(1) this mechanism is an articulated type coordinate structure, has 8 frees degree, can finish comings and goings, the operation light and flexible;
(2) application of double-four link mechanism, attitude remains unchanged when making the operating point change in location of robot, thus the frame for movement that has realized position and attitude is separated idol;
(3) adopt two-stage silk drive mechanism, promptly reduced mechanism's spatial volume and alleviated the weight of mechanism again;
(4) adopted the approximately equalised structure of both arms length, make space realization maximization;
(5) the ingenious design of strainer and wire wheel has solved line ball and tensioning problem that the silk transmission often occurs;
(6) the initiatively application of joint timing belt transmission makes motor postposition, and promptly the terminal suffered moment of mitigation system can guarantee the motion control precision in joint again;
(7) coarse adjustment and accurate adjustment are separated, and can locate fast by manual coarse adjustment; Fine-tuning mechanism makes system have the precision of carrying out micrurgy;
(8) adopt the moment six-dimension force sensor to reflect the true power and the moment information at the tip of pointing really, thus the tissue that can help the doctor to experience to be touched or the truth of organ;
(9) the alternative oblique slide unit of vertical lifting mechanism mechanism provides the vertical displacement amount, reduces the control number of axle, reduces the control difficulty, the whole operability of raising system;
(10) the attitude mechanism rack is specifically designed as the 20-40 degree according to operation on larynx, and optimized angle is the 20-30 degree;
(11) it is spacing that the attitude free-wheeling system adds travel switch; Provide reliable basis for accurately controlling angle.
(12) along arc-shaped guide rail swing two limit positions travel switch is installed all; Provide reliable basis for accurately controlling angle.
(13) remove the oblique slide unit mechanism of former patent application, alleviate arm to a great extent foremost, promptly the weight of attitude-adjusting system improves system stiffness, optimizes mechanism's operability.
Description of drawings
Fig. 1 is an attitude adjustment member structural representation of the present invention;
Fig. 2 is the partial enlarged drawing of arc-shaped guide rail of the present invention;
Fig. 3 is the local figure of the A-A of attitude adjustment member of the present invention;
Fig. 4 is a horizontal adjusting part-structure schematic diagram of the present invention;
Fig. 5 is the partial enlarged drawing of rotating shaft and transition frame behind the horizontal adjusting part the first arm of the present invention;
Fig. 6 is a upright position of the present invention adjustment member structural representation;
Fig. 7 is a upright position of the present invention adjustment member B-B cutaway view.
The specific embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
Fig. 1,2,3 illustrates attitude and adjusts the joint, and the circular motion joint of its finger is an initiatively joint, and the motion in joint is that the step-by-step movement by voltage-type drives arc-shaped guide rail motor 6-1 and provides, and realizes by pinion and rack.The lock ring 1 of motor 6-1 and holding finger is installed on the gripper shoe 2, and gripper shoe 2 is fixed together with the slide block of arc-shaped guide rail 3, and can be free to slide on arc-shaped guide rail; The guide rail of arc-shaped guide rail 3 is fixing with arc-shaped guide rail support 4 by tooth fan 5; Motor 6-1 is fixed on the gripper shoe 2, and pinion 7 is loaded on the motor 6-1 axle, can fan on 5 at tooth and freely roll.Circular motion is that the axle of motor 6-1 moves on arc-shaped guide rail 3 by pinion 7 and tooth fan 5 drive gripper shoes 2, thereby realizes the motion of finger circular arc.The two limit positions of described arc guide rail is respectively arranged with swing limited block 18, provides foundation for accurately controlling angle.Be fixed with rotation limited block 17 near an end of arc-shaped guide rail support 4 on the described rotation power transmission shaft 9, when limited block 17 turned to attitude mechanism rack 19 shown in Figure 4, both interfered mutually, define the rotation of limited block 17, for accurate control angle provides foundation.The radius of described arc guide rail is 250mm-350mm, and preferred radius is 250-300mm, and the angle of described arc guide rail is 20 °-40 °, and the angle of preferred arc guide rail is 30 °-40 °.
The rotary joint of arc-shaped guide rail is an initiatively joint, and the motion in joint is to be provided by motor 16, realizes by Bearning mechanism.Motor 16 is connected with axis of rotation bearing 11 by spinning motor support 15, and axis of rotation bearing 11 is fixed on the attitude mechanism rack 19 shown in Figure 4; Bearing is contained in the axis of rotation bearing 11, and is inner by 9 supports of rotation power transmission shaft, and the axial location of bearing is by spacer 12,10 restrictions of rotation bearing cap; Rotation power transmission shaft 9 is connected and fixed by power sensor 8 and arc-shaped guide rail support 4; Rotation bearing cap 10 is fixed on the axis of rotation bearing 11, and spacer 12 places between two bearings in the axis of rotation bearing 11; Rotation power transmission shaft 9 is connected with the axle of motor 16 with rotation shaft joint slide block 14 by rotation shaft joint 13.The transmission that rotatablely moves is by two rotation shaft joints 13 and rotation shaft joint slide block 14 rotatablely moving of motor shaft to be passed to rotation power transmission shaft 9, and rotation power transmission shaft 9 is connected with arc-shaped guide rail support 4, drives the entire front end parts and is rotated motion.Power sensor 8 is fixedly mounted between arc-shaped guide rail support 4 and the rotation power transmission shaft 9, can detect the power of three directions and the moment of three directions.
Fig. 4,5 illustrates the position of horizontal direction and adjusts the joint.The position adjustment of horizontal direction is to be realized by the cradle head of each arm.Wherein, big arm 35 cradle heads are manual adjustments joints, realize by Bearning mechanism.Rotating shaft 37 and big arm 35 are connected by pin behind the big arm, are assemblied on the big arm support 38 by Bearning mechanism, make the entire front end part rotate flexibly and are convenient to manual adjustments; The retaining mechanism in this joint is realized by pluggable alignment pin, positioning disk 36 usefulness junction of the edges of two sheets of paper screws are connected with big arm 35, positioning disk 36 and big arm 35 are rotated jointly, owing on the positioning disk 36 equally distributed pin-and-hole is arranged, when arm is gone to the operating position,, pin realized easy manually accurate positioning function in the pin-and-hole of positioning disk 36 thereby being inserted.
The rotary joint of second forearm 26 is initiatively joints, and the motion in joint is to be provided by servomotor 65, by band transmission transferring power, realizes by Bearning mechanism.Its structure is similar with big arm 35 rotating mechanisms, and second forearm 26 also is to connect by pin to be connected with rotating shaft 31 behind second arm, and second forearm 26 is rotated in big arm 35 bearing blocks, realizes axial location by bearing, rotating shaft lid 32 and circlip for shaft.Second forearm 26 be connected with transition frame 27 by passing the two the second arm front rotary shaft 25 of first forearm 23, realize axial restraint by bearing, rotating shaft lid and circlip for shaft.Flute profile belt wheel 29 is contained in the first arm 23 back rotating shafts 28, and is fixing by belt wheel back-up ring 30.Timing belt is made up of flute profile belt wheel 33 and flute profile belt wheel 34 and tensioning wheel, flute profile belt wheel 34 links to each other with motor 65 output shafts by key, power is passed to flute profile belt wheel 33 along the pilled-in selvedge of timing belt, flute profile belt wheel 33 is connected with second arm, 26 back rotating shafts, 31 pins, drives second forearm 26 and rotates; The strainer of flute profile band is to have opened an elongated slot in base plate 39 upper edges vertical flute profile band direction, the little axle 41 of regulating wheel 40 can be moved within it, bearing and sleeve are housed on the little axle 41 replaces sliding friction to reduce resistance with rolling friction, its end is a screw thread, thereby the optional position that can make regulating wheel 40 be parked in elongated slot behind the little axle 41 with nut check has reached the purpose of any adjusting belt wheel rate of tension.
The rotary joint of first forearm 23 is initiatively joints, and the motion in joint is to be provided by servomotor 64, and the belt wheel 61 transmission transferring power by being contained on its output shaft realize by Bearning mechanism.Its structure is identical with second forearm 26, and attitude mechanism rack 19 is connected by the first arm front rotary shaft 22 that passes the two with first forearm 23, realizes axial restraint by bearing, front rotary shaft lid 21 and circlip for shaft.The attitude mechanism rack is 20 °-40 ° according to the angle that operation on larynx is specifically designed as attitude mechanism rack and horizontal axis, and preferred angle is 20 °-30 °.First forearm 23 and second forearm 26 by the first arm that passes the two after rotating shaft 28 be connected with transition frame 27, realize axial restraint by bearing, back rotating shaft lid 24 and circlip for shaft.
Servomotor 65 drives behind second arm rotating shaft 31 by timing belt and rotates, and the rotating shaft 31 and second forearm 26 are fixed by pin behind second arm, thereby forearm 26 is driven indirectly by servomotor 65; Double-four link mechanism is realized by the silk transmission.In two wire wheels of silk transmission, the wire wheel 20-4 of back is fixed on the rotating shaft lid 32 with junction of the edges of two sheets of paper screw on second forearm 26, and rotating shaft lid 32 is fixed on the big arm 35, makes its relative position with big arm 35 constant.The wire wheel 20-3 of front is fixed on the transition frame 27; When second forearm 26 rotated with respect to big arm 35, steel wire rope will drive transition frame 27 and rotate in the opposite direction, just can the rotary joint amount of spin of second forearm 26 be compensated by this group wire wheel mechanism like this; One group of wire wheel structure on first forearm 23 is identical with second forearm 26, the wire wheel 20-2 of back is fixed on the transition frame 27, the wire wheel 20-1 of front and attitude-adjusting system support 19 are fixing, and this group wire wheel can compensate the rotary joint amount of first forearm 23.Just realized the idol of separating of the position of manipulator operating point and attitude control by two groups of quadric chains.
The strainer of wire wheel, all have the hole in each wire wheel inside, like this in coiling, can walk around gripper shoe 42 and simply supported slab 43 by the hole for one of steel wire, gripper shoe 42 is fixed on the wire wheel, and simply supported slab 43 can move freely, on the simply supported slab 43 screw thread is arranged, load onto long bolt, the top of bolt withstands on the gripper shoe 42, has so just realized the tensioning function of steel wire.
Fig. 6,7 illustrates the position of vertical direction and adjusts the joint.The joint that moves both vertically, the motion in joint is to be provided by servomotor, realizes by screw-nut body.Motor and decelerator are fixed on the vertical support frame 46, and vertical support frame 46 is fixed on the vertical base plate 47, and motor is passed to vertical turn-screw 52 by vertical shaft joint 44, vertical slipper 45 with power; Vertical turn-screw 52 and vertical base plate 47 are connected by Bearning mechanism, and vertical axis bearing 49 is fixed on the vertical base plate 47, and vertically bearing cap 48 is fixed on the vertical axis bearing 49, and bearing places in the bearing block, and vertically turn-screw 52 can freely rotate by bearing.Vertical guide rail plate 53 is connected with vertical base plate 47 by guide rail vertical slipper 45 and vertical transmission nut 50, and vertical transmission nut 50 is fixing with vertical guide rail plate 53 by vertical adjusting pad 51, and vertical guide rail plate 53 can be moved in vertical direction; The realization of motion is to change the rotation of leading screw the motion of the vertical direction of vertical guide rail plate 53 into by the vertical transmission nut 50 that is installed on the vertical turn-screw 52, and its middle guide plays guide effect to it; The whole big arm that the joint is adjusted in the horizontal direction position is directly installed on the vertical guide rail plate 53 by big arm support 38, relies on moving both vertically of vertical guide rail plate 53 to realize the adjustment of whole arm vertical direction position.In this structure, removed the oblique slide unit vertical movement mechanism of former patent application, adjusting the joint with the position of vertical direction drives the horizontal direction position and adjusts joint and attitude and adjust the joint and do and move both vertically, alleviate arm to a great extent foremost, be the weight of attitude-adjusting system, improve system stiffness, optimize mechanism's operability.
Further specify action implementation procedure with embodiment below from operator.
This system can realize 6 interlocks, comprises move (in order to realize position adjust) of front end around the rotation of X, Y, three directions of Z (in order to realize the attitude adjustment), rear end X, Y, three directions of Z.
Front end is around the rotation of X, Y, three directions of Z, in order to realize the attitude adjustment.Wherein, the circular motion of finger is to drive the axle of arc-shaped guide rail motor 6-1 to move on arc-shaped guide rail 3 by pinion 7 and tooth fan 5 drive gripper shoes 2, thereby realizes the motion of finger circular arc.The transmission that rotatablely moves is by two rotation shaft joints 13 and rotation shaft joint slide block 14 rotatablely moving of motor shaft to be passed to rotation power transmission shaft 9, and rotation power transmission shaft 9 is connected with arc-shaped guide rail support 4, drives the entire front end parts and is rotated motion.
Moving of rear end X, Y, three directions of Z is in order to realize position adjustment.Wherein, the position adjustment of horizontal direction is to be realized by the cradle head of each arm.The rotation of big arm 35 is that manual adjustments realizes, drives big arm 35, drives the rotation flexibly of entire front end part by the Bearning mechanism that is assemblied on the big arm support 38; The retaining mechanism in this joint is realized by pluggable alignment pin, positioning disk 36 usefulness junction of the edges of two sheets of paper screws are connected with big arm 35, positioning disk 36 and big arm 35 are rotated jointly, owing on the positioning disk 36 equally distributed pin-and-hole is arranged, when arm is gone to the operating position,, pin realized easy manually accurate positioning function in the pin-and-hole of positioning disk 36 thereby being inserted.
The rotation of second forearm 26 is realized by driven by servomotor.Place motor-driven second forearm 26 in the big arm 35 to rotate, second forearm 26 is rotated in big arm 35 bearing blocks; Motor-driven flute profile belt wheel 34 passes to flute profile belt wheel 33 with power along the pilled-in selvedge of timing belt, and flute profile belt wheel 33 is connected with rotating shaft 31 pins behind second arm, drives 26 rotations of second forearm; The strainer of flute profile band is to have opened an elongated slot in base plate 39 upper edges vertical flute profile band direction, the little axle 41 of regulating wheel 40 can be moved within it, bearing and sleeve are housed on the little axle 41 replaces sliding friction to reduce resistance with rolling friction, its end is a screw thread, thereby the optional position that can make regulating wheel 40 be parked in elongated slot behind the little axle 41 with nut check has reached the purpose of any adjusting belt wheel rate of tension.
The rotation of first forearm 23 is realized by driven by servomotor, by band transmission transferring power, realizes by Bearning mechanism.Its mode is identical with second forearm 26, attitude mechanism rack 19 is connected by the first arm front rotary shaft 22 that passes the two with first forearm 23, realize axial restraint by bearing, front rotary shaft lid 21 and circlip for shaft, and can realize the mutual rotation between the attitude mechanism rack 19 and first forearm 23.First forearm 23 and second forearm 26 by the first arm that passes the two after rotating shaft 28 be connected with transition frame 27, realize axial restraint by bearing, back rotating shaft lid 24 and circlip for shaft, and can realize the mutual rotation between first forearm 23 and second forearm 26.
The motion of double-four link mechanism is realized by the silk transmission.In two wire wheels of silk transmission, the wire wheel 20-4 of back is fixed on the rotating shaft lid 32 with junction of the edges of two sheets of paper screw on second forearm 26, and rotating shaft lid 32 is fixed on the big arm 35, makes its relative position with big arm 35 constant.The wire wheel 20-3 of front is fixed on the transition frame 27; When second forearm 26 rotated with respect to big arm 35, steel wire rope will drive transition frame 27 and rotate in the opposite direction, just can the rotary joint amount of spin of second forearm 26 be compensated by this group wire wheel mechanism like this; One group of wire wheel structure on first forearm 23 is identical with second forearm 26, the wire wheel 20-2 of back is fixed on the transition frame 27, the wire wheel 20-1 of front and attitude-adjusting system support 19 are fixing, and this group wire wheel can compensate the rotary joint amount of first forearm 23.Just realized the idol of separating of the position of manipulator operating point and attitude control by two groups of quadric chains.
The strainer of wire wheel, all have the hole in each wire wheel inside, like this in coiling, can walk around gripper shoe 42 and simply supported slab 43 by the hole for one of steel wire, gripper shoe 42 is fixed on the wire wheel, and simply supported slab 43 can move freely, on the simply supported slab 43 screw thread is arranged, load onto long bolt, the top of bolt withstands on the gripper shoe 42, has so just realized the tensioning function of steel wire.
The realization of the motion of vertical direction is by being installed in the motion that vertical transmission nut 50 on the vertical turn-screw 52 changes the rotation of vertical turn-screw 52 into the vertical direction of vertical guide rail plate 53.
Claims (3)
1. accessory manipulation of throat surgery robot, it is characterized in that, it is provided with finger circular motion articulation mechanism, arc-shaped guide rail rotary joint mechanism, the first forearm rotary joint mechanism, the second forearm rotary joint mechanism, big arm rotary joint mechanism, the vertical direction position adjusting mechanism, timing belt wheel mechanism and wire wheel mechanism, the lock ring of first motor and holding finger is arranged on first gripper shoe in the described finger circular motion articulation mechanism, described first gripper shoe is connected with the slide block of arc-shaped guide rail, the guide rail of described arc-shaped guide rail is connected with the arc-shaped guide rail support by the tooth fan, described first motor shaft is provided with pinion, described pinion and the engagement of tooth fan; The power sensor is fixedly set between described arc-shaped guide rail support and the rotation power transmission shaft in the described arc-shaped guide rail rotary joint mechanism, described rotation power transmission shaft passes axis of rotation bearing and is connected with the axle of second motor with rotation shaft joint slide block by the rotation shaft joint, described second motor is connected with axis of rotation bearing by the spinning motor support, described rotation power transmission shaft outer cover is equipped with spacer, the end is set with bearing, and described axis of rotation bearing is fixed with the rotation bearing cap; First forearm, one end is connected with the attitude mechanism rack by the first arm front rotary shaft in the described first forearm rotary joint mechanism, the described first forearm other end by the first arm after rotating shaft be connected with transition frame, the two ends of rotating shaft are provided with bearing behind described the first arm front rotary shaft and the first arm, described transition frame is provided with the 3rd motor, and described two wire wheels are connected by steel wire; In the described second forearm rotary joint mechanism second forearm, one end by second arm after rotating shaft be connected with big arm, the described second forearm other end is connected with transition frame by the second arm front rotary shaft, the two ends of rotating shaft are provided with bearing behind the described second arm front rotary shaft and second arm, described two wire wheels are connected by steel wire, second gripper shoe is fixed on the wire wheel, simply supported slab is provided with pillar, and the top of described pillar withstands on second gripper shoe; In the described big arm rotary joint mechanism big arm by big arm after rotating shaft be connected with big arm support, positioning disk is connected with arm support greatly, described positioning disk is provided with bearing pin, described big arm is provided with the 4th motor; The 5th motor is fixed on the vertical support frame in the described vertical direction position adjusting mechanism, described vertical support frame is fixed on the vertical base plate, described the 5th motor is by vertical shaft joint, vertical slipper is connected with vertical turn-screw, described vertical turn-screw both ends are set with bearing and pass the vertical axis bearing, described vertical axis bearing is fixed on the vertical base plate, described vertical axis bearing end is fixed with vertical bearing cap, described vertical base plate is connected with the vertical guide rail plate by guide rail slide block and guide rail, vertical transmission nut is fixed on the vertical guide rail plate by vertical adjusting pad, and vertical turn-screw is by vertical transmission nut; Big arm links to each other with described vertical guide rail plate by big arm support in the described big arm rotary joint mechanism; Described timing belt wheel mechanism is made up of the first flute profile belt wheel, the second flute profile belt wheel, the 3rd flute profile belt wheel and the 4th flute profile belt wheel and regulating wheel, the described first flute profile belt wheel is arranged on behind the first arm in the rotating shaft, described the 4th flute profile belt wheel is arranged on the 3rd motor output shaft, the described second flute profile belt wheel is arranged on behind second arm in the rotating shaft, and described the 3rd flute profile belt wheel is arranged on the 4th motor output shaft; Described wire wheel mechanism comprises first, second, third, fourth wire wheel, described first wire wheel and attitude-adjusting system support are fixedly linked, described second wire wheel is fixed on the described transition frame, described first, second wire wheel is connected by steel wire, described the 3rd wire wheel is fixed on the described transition frame, described the 4th wire wheel is fixed on the bearing cap of rotating shaft behind second arm, and described the 3rd, the 4th wire wheel is connected by steel wire; Described big arm bottom is provided with base plate, described base plate is provided with groove, described regulating wheel is fixed in the base plate groove by the little axle in it, the two ends of described arc-shaped guide rail are respectively arranged with the swing limit switch, end near described arc-shaped guide rail support on the rotation power transmission shaft in the described arc-shaped guide rail rotary joint mechanism is fixed with the rotation limited block, described axis of rotation bearing is fixed on the described attitude mechanism rack, the radius of described arc guide rail is 250mm-350mm, the angle of described arc guide rail is 20 °-40 °, and the angle of described attitude mechanism rack and horizontal axis is 20 °-40 °.
2. accessory manipulation of throat surgery robot according to claim 1 is characterized in that: the radius of described arc guide rail is 250-300mm, and the angle of described arc guide rail is 30 °-40 °.
3. accessory manipulation of throat surgery robot according to claim 1 is characterized in that: the angle of described attitude mechanism rack and horizontal axis is 20 °-30 °.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200510014709 CN1730245A (en) | 2005-08-04 | 2005-08-04 | Accessory manipulation of throat surgery robot |
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|---|---|---|---|
| CN 200510014709 CN1730245A (en) | 2005-08-04 | 2005-08-04 | Accessory manipulation of throat surgery robot |
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| CN1730245A true CN1730245A (en) | 2006-02-08 |
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| CN101698253B (en) * | 2009-06-19 | 2011-07-20 | 南京理工大学 | Special mechanism for automatically conveying high-temperature saw bit |
| US8827138B2 (en) | 2006-05-19 | 2014-09-09 | Ethicon Endo-Sugery, Inc. | Method for operating an electrical surgical instrument with optimal tissue compression |
| CN105380748A (en) * | 2015-12-17 | 2016-03-09 | 天津工业大学 | Wire-driving three-freedom-degree surgical drill tool with force sensing function |
| US9439651B2 (en) | 2006-05-19 | 2016-09-13 | Ethicon Endo-Surgery, Llc | Methods for cryptographic identification of interchangeable parts for surgical instruments |
| US9554803B2 (en) | 2005-07-26 | 2017-01-31 | Ethicon Endo-Surgery, Llc | Electrically self-powered surgical instrument with manual release |
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| CN110638500A (en) * | 2019-02-27 | 2020-01-03 | 中国科学院深圳先进技术研究院 | Clamping mechanism and spinal vertebral plate grinding operation device |
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| CN109884501B (en) * | 2019-03-06 | 2022-04-19 | 惠科股份有限公司 | Detection machine, broken line short circuit detection machine and correction method |
| CN109884501A (en) * | 2019-03-06 | 2019-06-14 | 惠科股份有限公司 | A kind of detection board, broken string short-circuit detecting machine and bearing calibration |
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