A kind of micro-wound operation robot main operation platformTechnical field
The present invention relates to the main operation platform of a kind of minimally invasive surgical operation robot, particularly to one for splanchnocoelThe doctor terminal master operation platform of minimally invasive surgical operation robot.
Background technology
Minimally invasive surgery is described as 21 century medical domain to one of significant contribution of human civilization, and Minimally Invasive Surgery refers to utilizeThe class operation technique that the armarium of the modernization such as breast, peritoneoscope and supporting apparatus are carried out.Compared with open surgery, Wicresoft's handsArt has the advantages such as operative incision is little, amount of bleeding is few, scar after the operation is little, recovery time is fast, and this pain that patient is suffered is bigFor reducing, it helps the overall operation reducing patient spends, and therefore, minimally invasive surgery was increasingly widely used in recent yearsIn clinical operation.But, Minimally Invasive Surgery is while patient brings many interests, and but the operation to doctor brings a series of tiredDifficulty, such as: the shortcomings such as apparatus motility reduction, poor, the training cycle length of eye-hand coordination, this becomes restriction Minimally Invasive Surgery technology developmentKey factor.Development along with robotics, it is possible to effectively overcome the micro-wound operation robot of disadvantages mentioned above to arise at the historic moment.
During robot assisted micro-wound surgical operation, complicated surgical environments and operation task require that doctor possesses lengthTime manipulation robot implements the ability of surgical operation, meanwhile, also require that robot main operation device have higher reliability,Motility and operation comfort.The most business-like main operation device mainly have Sensable company of the U.S. Phantom andThe Omega etc. of ForceDimension company of Switzerland.But, there is poor structure rigidity, motion more in the main operation equipment emergedThe shortcomings such as scope is little, and be only capable of using as motion input device.Therefore, develop and a set of there is the novel micro-of independent intellectual property rightInvasive procedures robot main operation device, particularly develops a kind of several functions such as visual pattern, motion manipulation that integratesMinimally invasive robot main operation platform has very important Research Significance and practical value.
Summary of the invention
It is an object of the invention to overcome the deficiency of prior art, it is provided that one has elastic self-balancing ability, significantlySpace, and integrate the minimally invasive robot main operation platform that image, movement output etc. are multi-functional.
In order to achieve the above object, the technical solution used in the present invention is:
A kind of micro-wound operation robot main operation platform of the present invention, it includes pedestal, passes through on described pedestalScrew pair is vertically connected with lifting platform, image display system and support ring arm and is respectively and fixedly installed to the upside of lifting platform,What left and right two main manipulators were respectively symmetrically is fixed on the left and right sides boss supporting ring arm front end, two main manipulatorsStructure is identical and all includes position adjustment structure and pose adjustment structure two parts, each described position adjustment structure bagInclude the main hands pedestal being fixedly mounted on the side boss supporting ring arm, what connecting rod I one end rotated with main hands pedestal be connected andThe other end and being connected that joint II seat rotates, it is provided with cylindrical section, described joint II seat in the front end of described joint II seatCylindrical section be connected by bearing I with joint III seat rotates and be set with counterbalancing torsion springs on described cylindrical section, describedThe two ends of counterbalancing torsion springs be respectively inserted on joint II seat, joint III seat in the pin-and-hole offered, described joint III seatOne end of one side end face and connecting rod II is fixedly linked and fixing on the opposite side end face that is oppositely arranged with a described side end faceHaving balancing weight, the torsion direction of counterbalancing torsion springs and pose adjustment structure brought by forming that joint II seat and joint III seat rotateThe gravitational moment of joint III in opposite direction, the twisting force of described counterbalancing torsion springs and the assisted gravity trim effect of balancing weightCombination realizes the equalising torque that joint III is under connecting rod II level, and described pose adjustment structure includes being fixed on instituteThe output shaft of the motor I of the other end of the connecting rod II stated, connecting rod III one end and motor I is fixedly linked and the other end is fixed withMotor II, the output shaft of described motor II is fixedly linked with one end of connecting rod IV, and the other end of connecting rod IV rotates with connecting rod VIt is connected, lever rear end and being connected that connecting rod V rotates；One folding assembly include being fixed on lever front end from swivel base, folding is evenJoint chair passes through bearing I I and being connected of rotating from swivel base, and the front end projection of slip base plugs together the guide chute connecting seat in foldingIn, making slip base can connect seat guiding elongated slot along folding and realize linear slide, rationed marketing is vertically fixed on folding and connects on seat, untie-sellBeing vertically fixed on the rear end of slip base, the two ends of stretching spring are hooked in the intermediate groove of rationed marketing, untie-sell, respectively describedFolding connects the medianly zygomorphic connection of seat has the left folding lobe and right folding lobe that structure is identical, before each folding lobeHolding being connected of the rotation of the straight pin with respective side, what described straight pin was symmetrical is fixed on the left and right sides of folding connection seat, instituteThe left folding lobe stated and the rear end of right folding lobe are hinged with one end of the folding connecting rod of corresponding side by a round end pin respectivelyRotating and be connected, the folding connecting rod other end is connected with another round end pin hinging rotary being fixed on slip base, described electricityThe jante et perpendiculaire of the axis of machine I output shaft, the axis of output shaft of motor II, the rotation axis of lever and connecting rod V inA bit.
Compared with prior art, a kind of micro-wound operation robot main operation platform of the present invention has a following beneficial effect:
1. a kind of micro-wound operation robot main operation platform of the present invention collect image show, motion manipulation etc. multi-functional inIntegrally, the structural complexity of robot is advantageously reduced.
2. the image display system of a kind of micro-wound operation robot main operation platform of the present invention has elevating function, canNeed to be adjusted according to doctor, improve the operable comfortableness of robot.
3. the main manipulator of a kind of micro-wound operation robot main operation platform of the present invention has Three Degree Of Freedom position tuneThe whole topology layout adding four-degree-of-freedom pose adjustment, can realize grand movement and motility manipulation.
4. the main manipulator introducing spring of a kind of micro-wound operation robot of present invention main operation platform adds the combination of counterweightBalanced mode, is meeting the premise that main manipulator gravitational equilibrium requires, is effectively reducing the movement inertia of mechanism.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention a kind of micro-wound operation robot main operation platform；
Fig. 2 is the main manipulator overall structure schematic diagram of the present invention a kind of micro-wound operation robot main operation platform；
Fig. 3 is the main manipulator position adjustment structure signal of the present invention a kind of micro-wound operation robot main operation platformFigure；
Fig. 4 is the main manipulator pose adjustment structural representation of the present invention a kind of micro-wound operation robot main operation platformFigure；
Fig. 5 is the main manipulator folding modular construction signal of the present invention a kind of micro-wound operation robot main operation platformFigure；
Fig. 6 is the practical operation chart of the present invention a kind of micro-wound operation robot main operation platform；
Wherein:
1 main manipulator 2 image display system 3 supports ring arm 4 lifting platform 5 pedestal
6 doctor 7 seats
1-1 position adjustment structure 1-2-pose adjustment structure
101 II seat 104 joint, main hands pedestal 102 connecting rod I 103 joint III seat 105 bearing I
106 capping I 107 connecting rod II 108 counterbalancing torsion springs 109 balancing weights
201 connecting rod III 202 connecting rod IV 203 connecting rod V 204 lever 205 folding assemblies
206 motor I 207 motor II
301 connect seat 303 bearing I I 304 back-up ring 305 from swivel base 302 folding covers II
306 rationed marketing 307 slip base 308 untie-sells 309 stretch spring 310 left folding lobe
The 311 right folding lobes of straight pin 312 round end pin 313 folding connecting rod 314
R lifting I rotary freedom R2 joint, degree of freedom R1 joint II rotary freedom
R3 joint III rotary freedom s1 first drives degree of freedom s2 second to drive degree of freedom
R1 revolution degree of freedom r2 deflects degree of freedom r3 rotation degree of freedom r4 folding degree of freedom
Detailed description of the invention
Describe the present invention below in conjunction with specific embodiment.
A kind of micro-wound operation robot main operation platform as depicted, it includes pedestal 5, on described pedestal 5Being vertically connected with lifting platform 4 by screw pair, thus realize the lifting platform 4 elevating movement relative to pedestal 5, image showsSystem 2, support ring arm 3 are respectively and fixedly installed to the upside of lifting platform 4, and what left and right two main manipulators 1 were respectively symmetrically is fixed onSupporting on the left and right sides boss of ring arm 3 front end, doctor realizes the motion to robot arm by handling main manipulator 1Control.Image display system 2 moves with the one of lifting platform 4 and achieves the lifting degree of freedom R of self, and image display system 2 hasBody image-forming principle and structure non-invention content, therefore be not detailed.
The structure of two main manipulators 1 is identical and all includes position adjustment structure 1-1 and two, pose adjustment structure 1-2Point, described pose adjustment structure 1-2 is arranged on the connecting rod front end of position adjustment structure 1-1.Position adjustment structure 1-1 has passJoint I rotary freedom R1, joint II rotary freedom R2, joint III rotary freedom R3, by the connection of above three degree of freedomClose and rotate, it is possible to realize pose adjustment structure 1-2 large-scale position in space and adjust, so can be corresponding control robotMechanical arm carries out large-scale position motion.Described pose adjustment structure 1-2 has two and drives degree of freedom s1, s2 and fourEnd free degree: include end revolution degree of freedom r1, end deflection degree of freedom r2, end rotation degree of freedom r3, end folding certainlyBy degree r4, wherein, first degree of freedom s1, the second driving degree of freedom s2 and end revolution degree of freedom r1, end deflection are driven freelyThe jante et perpendiculaire of degree r2 is in a bit, and described the first driving degree of freedom s1, the second driving degree of freedom s2 are driven by motorDynamic control, correct in order to realize the initialization of pose adjustment structure, by four end free degree r1 of doctor's hand manipulations, r2,R3, r4 correspondence respectively controls the motion of the apparatus four-degree-of-freedom of robot arm end.
As it is shown on figure 3, each described position adjustment structure 1-1 includes that the side being fixedly mounted on support ring arm 3 is convexMain hands pedestal 101 on platform, what connecting rod I102 one end rotated with main hands pedestal 101 be connected and the other end and joint II seat 103Rotate is connected, and is provided with cylindrical section in the front end of described joint II seat 103, and the cylindrical section of described joint II seat 103 leads toThat crosses that bearing I 105 rotates with joint III seat 104 is connected and is set with counterbalancing torsion springs 108 on described cylindrical section, describedThe two ends of counterbalancing torsion springs 108 be respectively inserted on joint II seat 103, joint III seat 104 in the pin-and-hole offered, be fixed on passCapping 106 on joint III seat 104 is in order to position bearing I105.One side end face of described joint III seat 104 and companyOne end of bar II107 is fixedly linked and is fixed with balancing weight on the opposite side end face that is oppositely arranged with a described side end face109.The torsion direction of counterbalancing torsion springs and pose adjustment structure 1-2 bring joint III (by joint II seat 103 and joint III seat104 rotate compositions, it is achieved degree of freedom R3) gravitational moment in opposite direction, the twisting force of described counterbalancing torsion springs 108 is joined in additionThe assisted gravity trim effect combination of pouring weight 109 realizes the equalising torque that joint III is under connecting rod II107 level.MainRelatively rotating between hands pedestal 101 and connecting rod I102 realizes joint I rotary freedom R1, connecting rod I102 and joint II seat 103Between relatively rotate and realize joint II rotary freedom R2, relatively rotating between joint II seat 103 and joint III seat 104Realize joint III rotary freedom R3.Described pose adjustment structure 1-2 includes being fixed on another of described connecting rod II107Motor I206, connecting rod III201 one end of end is fixedly linked with the output shaft of motor I206 and the other end is fixed with motorII207, the output shaft of described motor II207 is fixedly linked with one end of connecting rod IV202, the other end of connecting rod IV202 and companyWhat bar V203 rotated is connected, lever 204 rear end and being connected that connecting rod V203 rotates；One folding assembly 205 includes fixing being in one's handsHandle 204 front end from swivel base 301, folding connects seat 302 by bearing I I303 and being connected of rotating from swivel base 301, back-up ring 304Be stuck in folding connect seat 302 cylindrical section circlip groove in order to prevent folding connect seat 302 relative to bearing generation axial float,Capping II305 is fixed on swivel base 301 in order to position bearing II303, and the front end projection of slip base 307 plugs together to be openedClose in the guide chute connecting seat 302, make slip base 307 can guide elongated slot along folding connection seat 302 and realize linear slide, rationed marketing306 is vertically fixing (can be threaded connection) on folding connection seat 302, and untie-sell 308 is vertically fixing (can by screw thread evenConnect) in the rear end of slip base 307, the two ends of stretching spring 309 are hooked in the intermediate groove of rationed marketing 306, untie-sell 308 respectively,The medianly zygomorphic connection connecting seat 302 in described folding has the left folding lobe 310 and right folding lobe that structure is identical314, what the straight pin 311 of the front end of each folding lobe and respective side rotated is connected, fixing of described straight pin 311 symmetryThe left and right sides of seat 302 is connected, such as: interference fit can be used to fix and assign in the pin-and-hole that folding connects seat 302 in folding,So that folding lobe is connected being connected of seat 302 rotation with folding.Described left folding lobe 310 and the rear end of right folding lobe 314 are dividedTong Guo not be connected with one end hinging rotary of the folding connecting rod 313 of corresponding side by a round end pin 312, folding connecting rod 313 anotherEnd is connected with another round end pin 312 hinging rotary being fixed on slip base 307.The axle of described motor I206 output shaftThe jante et perpendiculaire of line, the axis of output shaft of motor II207, the rotation axis of lever 204 and connecting rod V203 is in a bit.
In Fig. 4, motor I206, motor II207 output shaft drivening rod III201 respectively, connecting rod IV202 realize first and driveDynamic degree of freedom s1, the second driving degree of freedom s2.Degree of freedom is turned round in the realization that relatively rotates between connecting rod IV202 and connecting rod V203The realization that relatively rotates between r1, connecting rod V203, lever 204 deflects degree of freedom r2, between lever 204 and folding assembly 205Relatively rotating and realize rotation degree of freedom r3, folding assembly 205 self can realize folding degree of freedom r4.In Fig. 5, two folding lobes 310,314 when opening, and stretching spring 309 extend naturally, while after pressure is pressed in two folding lobes 310,314 applyings, folding connecting rod 313 pushes awayDynamic slip base 307 and untie-sell 308 are moved to the direction away from rationed marketing 306, and two folding lobes, finally in closure state, unclamp by pressureAfter, untie-sell 308 and slip base 307 be close rationed marketing 306 under the restoring force effect of stretching spring 309, when two folding lobes are in openingAfter state, stretching spring 309 is returned to nature elongation state, and open and the Guan Bi of two folding lobes 310,314 realizes folding freelyDegree r4.
Fig. 6 is the practical operation chart of the present invention a kind of micro-wound operation robot main operation platform.First adjust seat 7Position, make doctor 6 with relatively comfortable sitting posture near master operating station, subsequently adjust lifting degree of freedom R, make image display system 2The height of binocular form adapts to head and the position of eyes of doctor 6, and the both hands of doctor 6 manage the pose adjustment of main manipulator 1Structure 1-2, mode of specifically managing is: palm and middle finger, the third finger, little finger hold lever 204, and thumb, forefinger are pressed respectivelyOn the left and right folding lobe 310,314 of folding assembly 205, after the above-mentioned warming up of doctor 6 completes, just can be by figureAs display system 2 observes surgical scene information, manipulation main manipulator 1 carries out corresponding operation technique simultaneously.
Schematically being described the present invention and embodiment thereof above, this description does not has restricted, institute in accompanying drawingSimply one of the embodiments of the present invention shown, actual structure is also not limited thereto.If those skilled in the art is subject toIts enlightenment, in the case of without departing from the invention objective, transmission, driving means and the connected mode taken other formDesign the frame mode similar to this technical scheme and embodiment without creative, protection scope of the present invention all should be belonged to.