CN102119872B - Compact quick-change mechanism of robot for minimally invasive surgery - Google Patents
Compact quick-change mechanism of robot for minimally invasive surgery Download PDFInfo
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- CN102119872B CN102119872B CN2011100260109A CN201110026010A CN102119872B CN 102119872 B CN102119872 B CN 102119872B CN 2011100260109 A CN2011100260109 A CN 2011100260109A CN 201110026010 A CN201110026010 A CN 201110026010A CN 102119872 B CN102119872 B CN 102119872B
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Abstract
The invention discloses a compact quick-change mechanism of a robot for minimally invasive surgery. The compact quick-change mechanism is composed a quick-change box and a quick-change base, and mainly comprises four groups of transmission mechanisms, a limiting and locking mechanism, a driving system and the like, wherein the connecting part of the quick-change box is connected with the tail end of an instrument with a wrist function through a rotating axis, and the quick-change box can quickly slide along a concave chute of the quick-change base, thereby realizing replacement of surgical instruments; the quick-change box sliding into the quick-change base is limited and fixed by the limiting and locking mechanism installed at the tail end of the quick-change base; the four groups of transmission mechanisms are in similar structures, and finally realize four degrees of freedom of the tail end of the instrument in a wire transmission mode respectively by a servomotor; a transmission steel wire can be fixed and tensioned by a wire fixing wheel assembly in each transmission mechanism; and the driving system is composed of a servomotor and a harmonic speed reducer, and is fixed on the base frame of the quick-change base through threaded connection. The compact quick-change mechanism disclosed by the invention has the advantages of compact structure, light weight, reliable transmission, high quick-change efficiency and the like.
Description
Technical field
The present invention relates to a kind of quick-changing mechanism, be specifically related to a kind of minimally invasive surgical operation robot compact quick-changing mechanism.
Background technology
Minimally Invasive Surgery is meant that the doctor utilizes the miniature incision of elongated operation tool through human body surface to be insinuated into the operation that undergos surgery in the body, is the cutting edge technology that traditional surgery combines with high-tech operating theater instruments and electronic display system.
The used endoscope of micro-wound surgical operation can reach operative site deeply, and hands that make to implement the doctor of operation need not to get in the body, has significantly reduced to the damage of sufferer internal organs with to the interference of organ function, and the post-operative recovery time is shortened.Yet, when Minimally Invasive Surgery brings many interests for patient, the operation easier of medical apparatus and instruments is greatly improved, because the body surface otch has limited instrument degree of freedom number, motility greatly reduces like (1); (2) doctor can only obtain surgical scene information through the two dimensional image on the interior endoscope device display, the lack of depth sensation; (3) shake of doctor's hand may be amplified by elongated operation tool; (4) lack force feeling etc.Therefore, the doctor must have been trained for a long time and can carry out the Minimally Invasive Surgery operation.Even so, Minimally Invasive Surgery also only is applied among the relatively simple operation process of operation at present.
In the middle of the micro-wound operation robot operation process; Operation tool is unique and human lesion is organized contacted part; Also be the robot part of directly carrying out operation technique, therefore, the performance of operation tool is the key point of minimally-invasive surgery robot system combination property.For adapting to the requirement of modernized Minimally Invasive Surgery; The design of operation tool should satisfy delicate structure, flexible operation, various informative, be easy to change, be fit to requirements such as medical environment; Particularly operation tool should have more degree of freedom satisfying the motility requirement, and will be easy to change and could realize complicated operation technique.Therefore, the performance of the quick-changing mechanism that matches with operation tool also is the important component part of minimally-invasive surgery robot system combination property, and its performance indications not only affect the use of operation tool, have also directly determined the design objective and the layout type of main body system.In a word, the performance of operation tool and fast replacing device is to embody the key factor of surgical robot system overall performance level.
In the world, the existing many condoms model machine of minimally-invasive surgery robot system research field has reached the commercial clinical application level, comprises da Vinci, Zeus, LAPROTEK system etc.Development through the research surgical robot system finds that the operation tool system mainly is made up of tools section and fast replacing device.The development trend of tools section is to be developed to silk transmission, multiple degrees of freedom by bar transmission, low degree-of-freedom, though its structure is more and more simplified, function becomes from strength to strength; Fast replacing device then is to develop to compact, integrated-type gradually, and it is more and more efficient, stable that performance also becomes.Existing two cover commercialization micro-wound operation robots all are the four-degree-of-freedom operation tool systems that adopts the silk transmission, but shortcoming such as these operation tool systems still exist topology layout to disperse, and overall dimensions is bigger, so the operation tool system still has very big development potentiality.
In China; The research and development of minimally invasive surgical operation robot also are in the starting stage; Especially to the research of operation tool system, compare bigger gap in addition with foreign technology, therefore; The transmission of exploitation silk, surgical instrument with degrees of freedom and the performance that matches the more fast replacing device of stability and high efficiency advance the related-art technology progress significant to filling the domestic gaps.Research and development have far reaching significance for promoting China in the science of this scientific research field, technological status with the surgical instrument with degrees of freedom system that existing system has different silk type of belt drive and quick change mode.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art; Provide a kind of operation tool system that can realize and separate and can effectively dwindle the overall dimensions of whole surgery tool system with the Fast Installation of robot main body system, steady more, the accurate minimally invasive surgical operation robot compact quick-changing mechanism of feasible silk transmission.
Minimally invasive surgical operation robot compact quick-changing mechanism; It comprises the last interface drive system of being made up of the terminal right lobe transmission component of last interface, the terminal left lobe transmission component of last interface, last interface wrist pitching transmission component and last interface rotation transmission component; Lower interface drive system of forming by the terminal right lobe transmission component of lower interface, the terminal left lobe transmission component of lower interface, lower interface wrist pitching transmission component and lower interface rotation transmission component and the operation tool drive system of forming by the right lobe driven unit of end, terminal left lobe driven unit, wrist pitching driven unit and rotation transmission driven unit; Described each transmission component of going up in the interface drive system be vertically set on the quick change case base and and the lid plate that is fixedly linked of quick change case base between; The vertical setting of rotation axis of each transmission component in the rotation axis of rotation connecting axle and the last interface drive system; And the rotation connecting axle links to each other with the bearing saddle bore of quick change case base front end through bearing; Be provided with a groove and its groove end is arranged between interface wrist pitching transmission component and the last interface rotation transmission component at an end of described rotation connecting axle; Shackle line after the solid silk of last interface rotation transmission component twines curls up with the silk groove end of rotation connecting axle and links to each other; Curl up respectively the terminal right lobe transmission component of last interface, on shackle line on the terminal left lobe transmission component of interface and the last interface wrist pitching transmission component lead through the quick change box transmission directive wheel mechanism of a corresponding setting separately earlier with it; The centre bore that passes the rotation connecting axle then is rotatedly connected with the right lobe of tool tip, tool tip left side lobe and instrument wrist respectively again; Each quick change box transmission directive wheel mechanism is connected between described quick change case base and the lid plate; Each driven unit in the described operation tool drive system includes drive source; The vertical setting of rotation axis of each transmission component in the output shaft of drive source and the lower interface drive system is Gu a silk wheel construction is held tightly on the output shaft of drive source;
Each transmission component in the described lower interface drive system all is connected on the pedestal pedestal; The direction setting that the equal edge of rotation axis of each transmission component in the described lower interface drive system and described each transmission component of going up in the interface drive system parallel; Curl up shackle line on each transmission component in described lower interface drive system separately through curling up respectively after the corresponding one group of lower interface transmission directive wheel mechanism guiding that is provided with it on the solid silk wheel construction on the output shaft of respective drive source so that both are rotatedly connected, lower interface transmission directive wheel mechanism all is connected on the pedestal pedestal again;
Described bottom of going up four transmission components in the interface drive system can plug together so that the assembly in the upper and lower interface drive system slides continuously in twos with the top of four transmission components in the lower interface drive system is corresponding one by one, between described pedestal pedestal and quick change case base, is provided with spacing retaining mechanism.
Adopt the beneficial effect of apparatus of the present invention to be: 1, the present invention has compact conformation, in light weight, reliable transmission, quick change efficient advantages of higher.2, application of the present invention can be the micro-wound surgical operation of any aspect, has the potentiality of expanding to other field of surgery.3. mechanism of the present invention has guaranteed that steel wire closed loop transmission total length remains unchanged.Thereby guaranteed that the transmission steel wire can not be elongated or shorten in each mechanism kinematic process, guaranteed the reliable and stable and transmission accuracy of transmission.4, the kind of drive of each degree of freedom of the present invention is a transmission, has guaranteed any change of transmission direction in narrow space, realizes the Compact Design of multiple degrees of freedom quick-changing mechanism.5, silk of the present invention is fixing realizes the motion through two degree of freedom in solid silk wheel locking member same steel wire two ends of locking with strainer, has realized the Compact Design of the silk fixing and locking mechanism of steel wire transmission.6, the spacing retaining mechanism of the present invention has two extreme positions, can between two extreme positions, switch fast, thereby the requirement of using different instruments in the micro-wound surgical operation operating process can be fully satisfied in the quick mounting or dismounting of realization operation tool.7, the present invention provides stable big power output value, can be competent at big operating physical force operation such as gallbladder, operation on heart.
Description of drawings
Fig. 1 is the general assembly sketch map of minimally invasive surgical operation robot compact quick-changing mechanism of the present invention;
Fig. 2 is that main body system is connected sketch map with quick-changing mechanism shown in Figure 1;
Fig. 3 is the quick-changing mechanism shown in Figure 1 degree of freedom sketch map that is connected with the straight line auxiliary structure;
Fig. 4-1 and 4-2 are the stopping means structure and the principle schematic of quick-changing mechanism shown in Figure 1;
Fig. 5 is the separation sketch map of quick-changing mechanism shown in Figure 1;
Fig. 6 is the quick change box part-structure and the degree of freedom sketch map of quick-changing mechanism shown in Figure 1;
Fig. 7 is a quick change box partial interior structural representation shown in Figure 6;
Fig. 8 is a quick change box part drive mechanism sketch map shown in Figure 6;
Fig. 9 goes up interface transmission component decomposing schematic representation in the quick change box shown in Figure 6;
Figure 10 is the pedestal drive mechanism sketch map of quick-changing mechanism shown in Figure 1;
Figure 11 is a lower interface transmission component decomposing schematic representation in the pedestal shown in Figure 10;
Figure 12 is the silk transmission principle sketch map of quick-changing mechanism of the present invention;
The specific embodiment
Below in conjunction with concrete embodiment, and, the present invention is done further explanation with reference to accompanying drawing:
Like minimally invasive surgical operation robot compact quick-changing mechanism of the present invention shown in the drawings; It comprises by the terminal right lobe transmission component 7-4 of last interface, go up the terminal left lobe transmission component 7-3 of interface, go up the last interface drive system that interface wrist pitching transmission component 7-2 and last interface rotation transmission component 7-1 form, lower interface drive system of being made up of the right lobe transmission component 10-8 of lower interface end, the left lobe transmission component 10-7 of lower interface end, lower interface wrist pitching transmission component 10-6 and lower interface rotation transmission component 10-5 and the drive system of being made up of the right lobe driven unit of end 10-4, terminal left lobe driven unit 10-3, wrist pitching driven unit 10-2 and rotation transmission driven unit 10-1.Described each transmission component of going up in the interface drive system all be vertically mounted on quick change case base 6-5 and and the lid plate 6-4 that is fixedly linked of quick change case base between.The vertical setting of rotation axis and the rotation connecting axle 8-6 of each transmission component in the rotation axis of rotation connecting axle 8-6 and the last interface drive system link to each other through the bearing saddle bore of bearing with quick change case base front end.One end of rotation connecting axle is provided with a groove and silk groove end is arranged between interface wrist pitching transmission component and the last interface rotation transmission component; Shackle line after the solid silk of last interface rotation transmission component twines curls up with the silk groove end of rotation connecting axle and links to each other; Curl up respectively the terminal right lobe transmission component of last interface, on shackle line on the terminal left lobe transmission component of interface and the last interface wrist pitching transmission component lead through the quick change box transmission directive wheel 7-5 of mechanism of a corresponding setting separately earlier with it; The centre bore that passes the rotation connecting axle then is rotatedly connected with the right lobe 12-3 of tool tip, tool tip left side lobe 12-2 and instrument wrist 12-1 respectively again; Each quick change box transmission directive wheel mechanism is connected between described quick change case base and the lid plate; Each driven unit in the described operation tool drive system includes drive source; The vertical setting of rotation axis of each transmission component in the output shaft of drive source and the lower interface drive system is Gu a silk wheel construction is held tightly on the output shaft of drive source.Each transmission component in the described lower interface drive system all is connected on the pedestal pedestal 3-6; The direction setting that the equal edge of rotation axis of each transmission component in the described lower interface drive system and described each transmission component of going up in the interface drive system parallel; Curl up respectively on each transmission component in described lower interface drive system shackle line separately through after the corresponding one group of lower interface transmission directive wheel mechanism guiding that is provided with it more respectively with respective drive source output shaft on solid silk wheel construction curl up so that both are rotatedly connected, lower interface transmission directive wheel mechanism all is connected on the pedestal pedestal; Described bottom of going up four transmission components in the interface drive system can plug together so that the assembly in the upper and lower interface drive system slides continuously in twos with the top of four transmission components in the lower interface drive system is corresponding one by one, between described pedestal pedestal and quick change case base, is provided with spacing retaining mechanism.Assembly in described pedestal pedestal upper edge and upper and lower interface drive system plugs together the direction that parallels of sliding in twos and has two guide chutes; Two guide runners that are arranged on quick change case base bottom can be slidingly matched with described two corresponding plugging together of guide chute, can make pedestal pedestal and quick change box carry out the lateral register of left and right sides like this.
Described spacing retaining mechanism 3-7 positions and locks in order to the quick change box to the quick change pedestal of packing into; Its spacing pedestal 4-2 is fixed in the locating slot of pedestal pedestal 3-6 rear end; Limited block 4-1 is rotatably connected in the open slot of spacing pedestal 4-2 through the limited block bearing pin 4-7 that is connected on the spacing pedestal; Two fold-type suspension hook 4-3 that are loaded on limited block both sides and symmetric arrangement also are rotatably connected in the open slot of spacing pedestal through the suspension hook bearing pin 4-4 that is connected on the spacing pedestal; The upper end of two extension spring 4-6 of symmetric arrangement is hooked in the pin-and-hole of two fold-type suspension hook 4-3 lower ends respectively and its lower end is hooked on the axis pin of the spring 4-5 that is positioned at limited block 4-1 bottom; When packing quick change box and when making progress cocked limited block into; The top of limited block can be stuck in out in the draw-in groove of quick change box rear end, and when pushing limited block downwards, the lower end of limited block finally rests on the described pedestal pedestal.The axis of the axis of limited block bearing pin and suspension hook bearing pin parallels setting.Limited block has two extreme positions: when packing quick change box 5-1 into; The cocked limited block 4-1 that makes progress crosses position Q-Q to extension spring 4-6, and then limited block can be stuck under the effect of spring in the draw-in groove at quick change box rear portion of the quick change pedestal of packing into to realize the positioning and locking to the quick change box; When need are changed operation tool, to push limited block downwards and make spring oppositely cross the Q-Q position, limited block then rests on the described pedestal pedestal under the spring pulling, and this moment, limited block unclamped the quick change box, abdicated quick change box path of travel and installed and removed fast with implementation tool.By the guide chute location, by limited block location and locking, realized that the Fast Installation of instrument is fixed on the fore-and-aft direction on the quick change box left and right directions.Two extreme positions of this spacing retaining mechanism can keep under spring action automatically, do not need in use to continue to push, and have simplified instrument quick change operation sequence, have increased operability.
Described each transmission component of going up the interface drive system includes projection power transmission shaft 9-5; Bottom at described projection power transmission shaft is provided with projection; On described projection power transmission shaft, be set with the first lower bearing 9-4 successively, have on it axis hole outer solid silk wheel 9-3, have axis hole and its bottom the interior solid silk wheel 9-2 and the first upper bearing (metal) 9-1 on it for smooth shaft part; It axially is provided with the opening elongated slot in described, to consolidate a sidewall upper edge of the smooth shaft part of wheel; The smooth shaft part of described interior solid wheel 9-2 and described outer silk are admittedly taken turns 9-3 axis hole matched in clearance and can be taken turns a latch segment 9-6 through solid silk and hold tightly on described projection power transmission shaft; Gu silk wheel latch segment links to each other through attachment screw with outer solid silk wheel bottom; Be provided with a groove on the described inside and outside solid silk wheel; The described first upper bearing (metal) 9-1 is fixed in the bearing saddle bore on the lid plate; The described first lower bearing 9-4 is fixed in the bearing saddle bore of quick change case base; The inside and outside solid silk wheel of last interface rotation transmission component is rotatedly connected through shackle line with the silk groove end of rotation connecting axle, the terminal right lobe transmission component of last interface, go up on terminal left lobe transmission component of interface and the last interface wrist pitching transmission component inside and outside solid silk wheel respectively through within it, curl up by rightabout in the silk groove of outer solid silk wheel and shackle line and tool tip right side lobe, the left lobe of tool tip and the instrument wrist of tensioning are rotatedly connected; Each transmission component in the described lower interface drive system includes groove power transmission shaft 11-1; Be provided with at the top of described groove power transmission shaft 11-1 with described projection power transmission shaft bottom and can plug together the guide chute that is slidingly matched to realize; On described groove power transmission shaft 11-1, be with the second upper bearing (metal) 11-2, lower interface solid silk drive 11-3 and the second lower bearing 11-4 successively; The bottom of the solid silk of described lower interface drive links to each other with solid silk drive latch segment 11-5 through attachment screw; The solid silk of described lower interface drive is provided with a groove; The solid silk of described lower interface drive can be held tightly on described groove power transmission shaft through solid silk drive latch segment, and the described second upper and lower bearing 11-2,11-4 are separately fixed in the bearing saddle bore of pedestal pedestal 3-6; Solid silk wheel construction on the drive source output shaft comprise have on it axis hole the solid outward silk wheel of drive source, have axis hole on it and its bottom is solid silk wheel in the drive source of smooth shaft part; In described drive source, be provided with the opening elongated slot vertically on the sidewall of the smooth shaft part of solid silk wheel; On the inside and outside solid silk wheel of drive source, all have a groove; The solid silk wheel of drive source latch segment links to each other through attachment screw with the solid outward silk wheel of drive source bottom; The smooth shaft part of solid silk wheel is with the solid outward silk axle hole matched in clearance of described drive source and can hold tightly on described drive source output shaft through the solid silk wheel of a drive source latch segment in the described drive source, the inside and outside solid silk wheel of drive source respectively through within it, curl up by rightabout in the silk groove of outer solid silk wheel and the shackle line of tensioning and the lower interface on each transmission component in the corresponding lower interface drive system admittedly a drive be rotatedly connected.As one embodiment of the present invention, Gu silk wheel latch segment is the split setting with outer solid silk wheel bottom, described solid silk wheel latch segment links to each other through two attachment screws with outer solid silk wheel bottom.Other a kind of embodiment of the present invention; Side sidewall bottom one side sidewall of described each solid silk wheel latch segment and the outer solid silk wheel is for being wholely set, Gu the opposite side sidewall of silk wheel latch segment links to each other through an attachment screw with the two side that opposite side sidewall relative spacing is provided with and relative spacing is provided with of outer solid wheel bottom.In like manner, between the solid silk of lower interface drive and the solid silk drive latch segment and the solid silk wheel of drive source latch segment with also can adopt above-mentioned embodiment to be connected between solid of drive source is taken turns outward.
Each guide wheel assemblies of described quick change box transmission directive wheel mechanism includes directive wheel rotating shaft 8-3, packing ring 8-4, quick change box directive wheel 8-5.Quick change box directive wheel is sleeved on the described guide wheel shaft, adds packing ring 8-4 respectively in the both sides that are positioned at described quick change box directive wheel, and the top of described guide wheel shaft and bottom are separately fixed on lid plate and the quick change case base.
Lower interface transmission directive wheel mechanism is divided into two groups, and first group of 10-9 of directive wheel mechanism is near the lower interface drive system and be vertical layout, and second group of 10-10 of directive wheel mechanism, 10-11 is near drive system and be lateral arrangement.Two groups of directive wheel mechanisms all comprise two guide wheel assemblies and can have identical structure with quick change box transmission directive wheel mechanism and form.
The bottom shape of pedestal pedestal 3-6 can confirm according to its parts that need connect, if with guide rail slide link to each other can be provided with above that groove with guide rail on slide block match and can Ka Si mechanism be set in the front and back end of pedestal pedestal so that the straight line pair is fixed with the shackle line two ends.
Specifically combine each accompanying drawing that the present invention is done to specify below again:
Fig. 1, shown in Figure 2 be population structure of the present invention and be connected sketch map.Shown in Figure 1 is the general assembly sketch map of apparatus of the present invention, shown in Figure 2 be apparatus of the present invention in robot system residing position and with the syndeton of main body system.Operation tool is installed on apparatus of the present invention; Apparatus of the present invention are installed on the rail plate pedestal 2-2 of main body system slave arm; In the minimally invasive robotic surgery process, operation tool moves on a large scale, and adjustment realizes through the slave arm motion of mechanism just, is that rotation through support arm 2-3 realizes like the degree of freedom W2 that vacillates now to the left, now to the right of operation tool; The degree of freedom W1 that rocks back and forth rotates through the fixed point of guide rail 2-2 to realize, and linear telescopic degree of freedom P1 realizes through the guide rail straight line is secondary.Being connected in the terminal 2-1 of pilot seal mechanism of guide rail can lead and locate operation tool; When carrying out Minimally Invasive Surgery; The sealing ring that operation tool passes the 2-1 of pilot seal mechanism stretches into the inside of human body operation that undergos surgery, and the then stifled miniature incision that is contained in body surface of the 2-1 of pilot seal mechanism is sentenced instrument is played sealing function.
Shown in Figure 3 is the linear telescopic degree of freedom P1 of apparatus of the present invention and main body system coupling part, also has quick change base part rotary freedom, comprises lower interface transmission rotary freedom R1-R4 and drive system rotary freedom R5, R6.R1 is a rotation transmission rotary freedom, and R2 is a wrist pitching transmission rotary freedom, and R3 is terminal left lobe transmission rotary freedom, and R4 is terminal right lobe transmission rotary freedom.Rail plate 3-9 is installed among the rail plate pedestal 2-2, and its front end is the subsidiary drive system of straight line, is made up of servomotor assembly 3-1, potentiometer 3-2 and driving wire wheel; The driving wire wheel is locked on the output shaft of motor; Steel wire 3-3 front end is fixed by the 3-4 of Ka Si mechanism that is positioned at pedestal pedestal 3-6 front end, after the driving wire wheel of drive system curls up, again along passing in the silk groove at the rail plate pedestal 2-2 back side; Curl up on wire wrapping wheel 3-10; Steel wire 3-3 end finally is fixed in the draw-in groove of pedestal pedestal 3-6 rear end, makes the steel wire drive mechanism be closed ring like this, and motor can drive quick-changing mechanism along rail plate 3-9 rectilinear motion through driving the silk wheel.Like diagram, spacing retaining mechanism 3-7 is installed in pedestal pedestal 3-6 rear end, and operation tool drive system 3-8 then links to each other with the motor cabinet hole of pedestal pedestal 3-6 through motor cabinet 3-11.R7 is the reel rotary freedom, and R8 is the rotary freedom of servomotor assembly 3-1.
Fig. 4-1 and Fig. 4-2 is depicted as structure and the principle of work and power of spacing retaining mechanism 3-7.Spacing pedestal 4-2 is fixed on quick change pedestal pedestal 3-6 rear end; Limited block 4-1 is installed on the spacing pedestal 4-2 through limited block bearing pin 4-7; Fold-type suspension hook 4-3 then is installed on the spacing pedestal through suspension hook bearing pin 4-4; The upper end of extension spring 4-6 is hooked in the pin-and-hole of fold-type suspension hook 4-3, and the lower end is hooked on the axis pin of the spring 4-5 that is positioned at limited block 4-1 bottom.In the process of pulling limited block 4-1; Axis pin of the spring 4-5 running orbit be to be the circular arc B in the center of circle with O2, the running orbit of fold-type suspension hook is to be the circular arc A in the center of circle with O1, can be known by geometrical principle; When spring moves to the extended line Q-Q of circle center line connecting O1O2; The line of suspension hook pin-and-hole centre point S1 and axis pin of the spring 4-5 centre point S2 is the longest, and promptly the amount of tension of spring reaches maximum, when limited block further make progress/descend to cross the Q-Q line; Spring 4-6 just has the trend that contracts and draw, and limited block will make progress/descend motion up to spacing position under spring 4-6 effect.The spacing position that limited block 4-1 moves upward is the quick change box that the dop on top just in time pins the quick change pedestal of packing into; The spacing position that limited block moves downward then is that the bottom touches the pedestal pedestal; Abdicate quick change box path of travel simultaneously, realize the quick mounting or dismounting of operation tool.
Shown in Figure 5 is the overall structure and the connected mode of two big ingredients of minimally invasive surgical operation robot compact quick-changing mechanism of the present invention.Wherein, 5-1 is a quick change box part overall structure sketch map, and 5-2 is a quick change base part overall structure sketch map.As shown in the figure, as the limited block 4-1 by lower limit retaining mechanism 3-7, quick change box 5-1 can slip into from the guide chute of quick change pedestal 5-2 along direction P; Pulling limited block 4-1 subsequently moves upward; The dop on limited block top is stuck in the draw-in groove of quick change box rear wall to pin the quick change box, at this moment, is located by chute on the quick change box left and right directions; By spacing retaining mechanism location and locking, realized that the Fast Installation of instrument is fixed on the fore-and-aft direction.On the contrary, move downward spacing position when pressing limited block, the quick change box is unclamped on limited block top, and the quick change box can take out from the quick change pedestal fast.
Fig. 6, shown in Figure 7 be internal structure and four transmission rotary freedoms of quick change box 5-1.The drive mechanism of quick change box part is called the interface drive system, and r1-r4 is meant the rotary freedom of four transmission components of interface drive system, and wherein, r1 is a rotary freedom of going up interface rotation transmission component 7-1; R2 is a rotary freedom of going up interface wrist pitching transmission component 7-2; R3 is a rotary freedom of going up the terminal left lobe transmission component 7-3 of interface; R4 is a rotary freedom of going up the terminal right lobe transmission component 7-4 of interface.Go up the interface transmission component for four and pass through bearings respectively in the quick change box, following side bearing is contained in the bearing block of quick change case base 6-5, and last side bearing then is contained in the bearing block of cover plate 6-4.As shown in Figure 6, bearing (ball) cover 6-3 is equipped with in the bearing block both sides of quick change case base 6-5 front end, in order to the bearing that supports rotation coupling part 6-2 is positioned.Tool tip 6-1 links to each other with the rotation coupling part through elongated axis of rotation 6-6.As shown in Figure 7,3 groups of identical quick change box transmission directive wheel 7-5 of mechanism of structure lead to shackle line.
Shown in Figure 8 is the last interface drive system composition of quick change box part.Steel wire rope directly curls up on the rotation connecting axle after the solid silk of last interface rotation transmission component 7-1 twines, and through the steel wire transmission, the r1 degree of freedom will be converted into rotation degree of freedom r5.Steel wire rope after the solid silk of other three transmission component 7-2,7-3,7-4 twines links to each other with instrument wrist, tool tip respectively after by the 3 groups of quick change box transmission directive wheel 7-5 of mechanism guiding, in order to other three degree of freedom of realization operation tool.The quick change box transmission directive wheel 7-5 of mechanism is made up of directive wheel rotating shaft 8-3, copper washer 8-4, quick change box directive wheel 8-5.Rotation connecting axle 8-6 is equipped with bearing 8-2 in both sides, and an end of rotation connecting axle is provided with a groove.The bearing outside is positioned by bearing (ball) cover 6-3, and the inboard is then by stop sleeve 8-1 location, and stop sleeve 8-1 passes through dowel fixes on rotation connecting axle 8-6.
Shown in Figure 9 is the structure composition of last interface transmission component.The first lower bearing 9-4, solid silk wheel construction, the first upper bearing (metal) 9-1 pack among the projection power transmission shaft 9-5 successively; In the silk groove of inside and outside solid silk wheel, curl up and tensioning transmission steel wire respectively then by rightabout; Tighten outer solid silk wheel latch segment 9-6 at last, transmission component is held tightly on the projection power transmission shaft.Wherein, Gu the silk wheel construction form by interior solid silk wheel 9-2, an outer solid silk wheel 9-3 fit.An interior solid silk wheel 9-2 optical axis partly is processed with 4 opening elongated slots, is matched in clearance with the outer wheel of silk admittedly 9-3 endoporus.Outer solid silk wheel 9-3 links to each other through screw with solid silk wheel latch segment 9-6 two parts.Owing to be processed with the opening elongated slot; When screwing solid silk wheel latch segment screw, interior solid silk wheel optical axis section can be held power transmission shaft tightly down latch segment and the crowded of outer solid silk wheel, realizes solid and tensioning of a drive system; At this, the motion of two degree of freedom in latch segment same steel wire two ends of locking.Before mechanism's locking, interior solid silk is taken turns the integral body adjustment that the synchronous rotation of taking turns with outer solid silk can realize a drive system, and the degree of tightness that can realize the transmission steel wire that relatively rotates of interior solid silk wheel and outer solid silk wheel is adjusted.The locking of same latch segment can realize the adjustment and the tensioning of entire mechanism; Not only be beneficial to and dwindle mechanism's overall dimensions; Can also reliably realize the tensioning of closed loop steel wire rope transmission, guarantee that the silk drive system is in tensioning state at work all the time, can carry out the adjustment of closed loop steel wire rope transmission simultaneously easily; And then realize adjustment and the calibration at work of silk drive system, guarantee transmission accuracy.
Shown in Figure 10 is quick change base interior drive mechanism sketch map.The drive source of operation tool drive system 3-8 comprises servo drive motor 10-13 and the harmonic speed reducer 10-12 that links to each other with servo drive motor, Gu the silk wheel construction is held tightly on the output shaft of harmonic speed reducer, the output shaft front end is supported on the solid silk wheel supporting seat 3-5.Drive system is made up of rotation driven unit 10-1, wrist pitching driven unit 10-2, terminal left lobe driven unit 10-3, terminal right lobe driven unit 10-4.The shackle line that is wrapped on the solid silk wheel construction of rotation driven unit 10-1 leads through lower interface transmission directive wheel 10-10 earlier; Curl up then on the driving wire wheel of lower interface rotation transmission component 10-5; Admittedly the silk wheel construction is the steel wire tensioning through adjustment at last, and the driving force of so just having realized spinning motion is by the transmission of drive system to the lower interface transmission component.By same method; The driving force that can realize the wrist elevating movement respectively is by the transmission of wrist pitching driven unit 10-2 to lower interface wrist pitching transmission component 10-6, and the driving force of tool tip motion is by the left and right lobe driven unit of end 10-3, the 10-4 transmission to the terminal left and right lobe transmission component 10-7 of lower interface, 10-8.
Shown in Figure 11 is the structure composition of the lower interface transmission component in the quick change pedestal.The solid silk of the second upper bearing (metal) 11-2, a lower interface drive 11-3, the second lower bearing 11-4 are packed among the groove power transmission shaft 11-1 successively; Curl up by rightabout in the silk groove of the upper and lower both sides of lower interface solid silk drive 11-3 through the driven unit winding and by the steel wire after the directive wheel guiding, through tightening solid drive latch segment 11-5 the lower interface transmission component is held tightly on groove power transmission shaft 11-1 at last.After the quick change box slips into the quick change pedestal fast; The projection of interface projection power transmission shaft 9-5 slips in the guide chute of quick change pedestal lower interface groove power transmission shaft 11-1 and matched in clearance just on the quick change box, has so just realized the stable butt joint and the transmission of power of upper and lower power interface.
Shown in Figure 12 is the silk transmission principle of operation tool system.The transmission process of rotation degree of freedom: operation tool drive system 3-8 output drive strength; The steel wire rope that is wrapped on the rotation driven unit 10-1 rotates through curling up on the solid silk of the lower interface drive 11-3 at lower interface rotation transmission component 10-5 after the lower interface transmission directive wheel 10-10 guiding and driving whole transmission component; Through docking transmission of power to last interface rotation transmission component 7-1 of groove power transmission shaft 11-1 and projection power transmission shaft 9-5, the rotation that will go up interface rotation transmission component 7-1 through the silk transmission again is converted into rotatablely moving of rotation connecting axle 8-6.In like manner; The transmission process of wrist pitching degree of freedom: drive system 3-8 output drive strength; Its wrist pitching driven unit 10-2 utilizes the steel wire transmission and after lower interface transmission directive wheel 10-11 guiding, rotary power is passed to lower interface wrist pitching transmission component 10-6; Give last interface wrist pitching transmission component 7-2 through butt joint with transmission of power then, utilize steel wire 12-4 transmission again and, finally realize the pitching degree of freedom of wrist 12-1 through quick change box guiding mechanism 7-5 guiding.The transmission process of terminal left lobe: drive system 3-8 output drive strength; Its terminal left lobe driven unit 10-3 utilizes the steel wire transmission and through the guiding of lower interface transmission directive wheel 10-9; Drive the terminal left lobe transmission component 10-7 rotation of lower interface; Give last interface terminal left lobe transmission component 7-3 transmission of power through butt joint, utilize the steel wire transmission again and, finally realize the rotary freedom of terminal left lobe 12-2 through the quick change box transmission directive wheel 7-5 of mechanism guiding.Terminal right lobe is identical with the transmission principle of terminal left lobe.
Claims (5)
1. minimally invasive surgical operation robot compact quick-changing mechanism; It is characterized in that: it comprises the last interface drive system of being made up of the terminal right lobe transmission component of last interface, the terminal left lobe transmission component of last interface, last interface wrist pitching transmission component and last interface rotation transmission component; Lower interface drive system of forming by the terminal right lobe transmission component of lower interface, the terminal left lobe transmission component of lower interface, lower interface wrist pitching transmission component and lower interface rotation transmission component and the operation tool drive system of forming by the right lobe driven unit of end, terminal left lobe driven unit, wrist pitching driven unit and rotation transmission driven unit; Described each transmission component of going up in the interface drive system be vertically set on the quick change case base and and the lid plate that is fixedly linked of quick change case base between; The vertical setting of rotation axis of each transmission component in the rotation axis of rotation connecting axle and the last interface drive system; And the rotation connecting axle links to each other with the bearing saddle bore of quick change case base front end through bearing; Be provided with a groove and its groove end is arranged between interface wrist pitching transmission component and the last interface rotation transmission component at an end of described rotation connecting axle; Shackle line after the solid silk of last interface rotation transmission component twines curls up with the silk groove end of rotation connecting axle and links to each other; Curl up respectively the terminal right lobe transmission component of last interface, on shackle line on the terminal left lobe transmission component of interface and the last interface wrist pitching transmission component lead through the quick change box transmission directive wheel mechanism of a corresponding setting separately earlier with it; The centre bore that passes the rotation connecting axle then is rotatedly connected with the right lobe of tool tip, tool tip left side lobe and instrument wrist respectively again; Each quick change box transmission directive wheel mechanism is connected between described quick change case base and the lid plate; Each driven unit in the described operation tool drive system includes drive source; The vertical setting of rotation axis of each transmission component in the output shaft of drive source and the lower interface drive system is Gu a silk wheel construction is held tightly on the output shaft of drive source;
Each transmission component in the described lower interface drive system all is connected on the pedestal pedestal; The direction setting that the equal edge of rotation axis of each transmission component in the described lower interface drive system and described each transmission component of going up in the interface drive system parallel; Curl up shackle line on each transmission component in described lower interface drive system separately through curling up respectively after the corresponding one group of lower interface transmission directive wheel mechanism guiding that is provided with it on the solid silk wheel construction on the output shaft of respective drive source so that both are rotatedly connected, lower interface transmission directive wheel mechanism all is connected on the pedestal pedestal again;
Described bottom of going up four transmission components in the interface drive system can plug together so that the assembly in the upper and lower interface drive system slides continuously in twos with the top of four transmission components in the lower interface drive system is corresponding one by one, between described pedestal pedestal and quick change case base, is provided with spacing retaining mechanism.
2. minimally invasive surgical operation robot compact quick-changing mechanism according to claim 1; It is characterized in that: on described pedestal pedestal along with upper and lower interface drive system in assembly plug together the direction parallel of sliding in twos and have two guide chutes, two guide runners that are arranged on quick change case base two bottom sides can be slidingly matched with described two corresponding plugging together of guide chute.
3. minimally invasive surgical operation robot compact quick-changing mechanism according to claim 1; It is characterized in that: described spacing retaining mechanism (3-7) comprises spacing pedestal (4-2); Spacing pedestal (4-2) is fixed in the locating slot of pedestal pedestal (3-6) rear end; Limited block (4-1) is rotatably connected in the open slot of spacing pedestal (4-2) through the limited block bearing pin (4-7) that is connected on the spacing pedestal; Two the fold-type suspension hooks (4-3) that are loaded on limited block both sides and symmetric arrangement are through being connected suspension hook bearing pin (4-4) on the spacing pedestal and being rotatably connected in the open slot of spacing pedestal and the upper end of two extension springs (4-6) of symmetric arrangement being hooked on respectively in the pin-and-hole of two fold-type suspension hooks (4-3) lower end; Two extension spring lower ends are hooked on the axis pin of the spring (4-5) that is positioned at limited block (4-1) bottom separately; The dop on limited block top can compress mutually with the draw-in groove that is arranged on quick change case base rear end or unclamp cooperation, and the axis of the axis of limited block bearing pin and suspension hook bearing pin parallels setting.
4. minimally invasive surgical operation robot compact quick-changing mechanism according to claim 1; It is characterized in that: described each transmission component of going up the interface drive system includes projection power transmission shaft (9-5); Bottom at described projection power transmission shaft is provided with projection; On described projection power transmission shaft, be set with first lower bearing (9-4) successively, have on it axis hole outer solid silk wheel (9-3), have axis hole and its bottom interior solid silk wheel (9-2) and first upper bearing (metal) (9-1) on it for smooth shaft part; It axially is provided with the opening elongated slot in described, to consolidate a sidewall upper edge of the smooth shaft part of wheel; Gu silk wheel latch segment links to each other through attachment screw with outer solid silk wheel bottom; The smooth shaft part of described interior solid wheel (9-2) and described outer silk are admittedly taken turns (9-3) axis hole matched in clearance and can be taken turns a latch segment (9-6) through solid silk and hold tightly on described projection power transmission shaft; Be provided with a groove on the described inside and outside solid silk wheel; Described first upper bearing (metal) (9-1) is fixed in the bearing saddle bore on the lid plate; Described first lower bearing (9-4) is fixed in the bearing saddle bore of quick change case base; The inside and outside solid silk wheel of last interface rotation transmission component is rotatedly connected through shackle line with the silk groove end of rotation connecting axle, the terminal right lobe transmission component of last interface, go up on terminal left lobe transmission component of interface and the last interface wrist pitching transmission component inside and outside solid silk wheel respectively through within it, curl up by rightabout in the silk groove of outer solid silk wheel and shackle line and tool tip right side lobe, the left lobe of tool tip and the instrument wrist of tensioning are rotatedly connected; Each transmission component in the described lower interface drive system includes groove power transmission shaft (11-1); Be provided with at the top of described groove power transmission shaft (11-1) with described projection power transmission shaft bottom and can plug together the guide chute that is slidingly matched to realize; On described groove power transmission shaft (11-1), be with second upper bearing (metal) (11-2), lower interface solid silk drive (11-3) and second lower bearing (11-4) successively; The bottom of the solid silk of described lower interface drive links to each other with solid silk drive latch segment (11-5) through attachment screw; The solid silk of described lower interface drive is provided with a groove; The solid silk of described lower interface drive can be held tightly on described groove power transmission shaft through solid silk drive latch segment, and the described second upper and lower bearing (11-2,11-4) is separately fixed in the bearing saddle bore of pedestal pedestal (3-6); Solid silk wheel construction on the drive source output shaft comprises that axis hole is taken turns, had on it to the solid silk of the drive source that has axis hole on it and its bottom is solid wheel in the drive source of smooth shaft part outward; In described drive source, be provided with the opening elongated slot vertically on the sidewall of the smooth shaft part of solid silk wheel; On the inside and outside solid silk wheel of drive source, all have a groove; The solid silk wheel of drive source latch segment links to each other through attachment screw with the solid outward silk wheel of drive source bottom; The smooth shaft part of solid silk wheel is with the solid outward silk axle hole matched in clearance of described drive source and can hold tightly on described drive source output shaft through the solid silk wheel of a drive source latch segment in the described drive source, the inside and outside solid silk wheel of drive source respectively through within it, curl up by rightabout in the silk groove of outer solid silk wheel and the shackle line of tensioning and the lower interface on each transmission component in the corresponding lower interface drive system admittedly a drive be rotatedly connected.
5. minimally invasive surgical operation robot compact quick-changing mechanism according to claim 1; It is characterized in that: described each quick change box transmission directive wheel mechanism includes guide wheel shaft; Quick change box transmission directive wheel is sleeved on the described guide wheel shaft; End face and bottom surface at described quick change box transmission directive wheel add packing ring respectively, and the top of described guide wheel shaft and bottom are separately fixed on described lid plate and the quick change case base.
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| CN2011100260109A CN102119872B (en) | 2011-01-10 | 2011-01-10 | Compact quick-change mechanism of robot for minimally invasive surgery |
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| CN2011100260109A CN102119872B (en) | 2011-01-10 | 2011-01-10 | Compact quick-change mechanism of robot for minimally invasive surgery |
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| CN102119872A CN102119872A (en) | 2011-07-13 |
| CN102119872B true CN102119872B (en) | 2012-11-07 |
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Effective date of registration: 20220902 Address after: 264211 no.566-1 Qishan Road, caomiaozi Town, Lingang Economic and Technological Development Zone, Weihai City, Shandong Province Patentee after: SHANDONG WEIGAO OPERATION ROBOT CO.,LTD. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University Patentee before: Tianjin University Asset Management Co.,Ltd. Effective date of registration: 20220902 Address after: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee after: Tianjin University Patentee after: Tianjin University Asset Management Co.,Ltd. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University |