CN103895025A - Multi-freedom-degree micro-operation finger for minimally invasive surgery robot - Google Patents
Multi-freedom-degree micro-operation finger for minimally invasive surgery robot Download PDFInfo
- Publication number
- CN103895025A CN103895025A CN201410125839.8A CN201410125839A CN103895025A CN 103895025 A CN103895025 A CN 103895025A CN 201410125839 A CN201410125839 A CN 201410125839A CN 103895025 A CN103895025 A CN 103895025A
- Authority
- CN
- China
- Prior art keywords
- rope
- wheels
- steel wire
- sheave
- finger tip
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses a multi-freedom-degree micro-operation finger for a minimally invasive surgery robot. The finger with pitching, deflecting and clamping freedom degrees comprises a fingertip executing mechanism, a drive and rope winding mechanism and a steel wire rope. The drive and rope winding mechanism comprises a rope guide wheel set A, a pretightening wheel set, a rope guide wheel set B and a motor. The rope guide wheel set B comprises three groups of rope guide wheels B and six groups of rope winding wheel groups. Three motor drive rotary shafts respectively drive corresponding rope winding wheels to rotate so as to move the steel wire rope, and three-freedom-degree movement of the fingertip can be achieved by the movement of the steel wire rope. The multi-freedom-degree micro-operation finger has three freedom degrees of clamping, pitching and deflecting, good stability and flexibility are achieved, and the requirement of surgery operation space of the minimally invasive surgery robot is satisfied.
Description
Technical field
The invention belongs to the Medical Devices that Minimally Invasive Surgery is used, particularly a kind of have pitching, beat, clamping DOF micro-wound operation robot multiple degrees of freedom microoperation finger.
Background technology
Operate on compared with operation with routine, Minimally Invasive Surgery in result for the treatment of, palliate the agonizing sufferings, the aspect such as restore cycle, medical treatment cost has clear superiority.It is mainly performed the operation with small wound by advanced medicine equipment and equipment, along with the range of operation of the development micro-wound operation robot of Robotics and correlation technique relates to more complicated field of surgery gradually, operation technique is also to intellectuality and precise development.The Intuitive Surgical company of the U.S. has developed Da Vinci minimally-invasive surgery robot system in the world, Computer Motion company developed ZEUS system all successfully push to clinical, but surgery cost costliness.The domestic research that also starts abdominal operation robot of Wicresoft at present, University Of Tianjin has studied " highly skilled man " system but has also had very large gap with comparing abroad, current domestic abdominal operation mainly operates with manual micro-apparatus, the free degree is less, working space is not very desirable, usually needs operator to carry out a large amount of auxiliary movements and just can reach certain working space, thereby improved the difficulty of operation technique, reduce operation efficiency, also can bring unnecessary additional injury to patient simultaneously.
Summary of the invention
The object of this invention is to provide one, to have mechanism ingenious, flexibly stable, is easy to computer-controlled micro-wound operation robot multiple degrees of freedom microoperation finger.
Multiple degrees of freedom microoperation finger for micro-wound operation robot of the present invention, comprise finger tip executing agency 1, driving and wiring mechanism 2, the first steel wire rope 1-2, the second steel wire rope 1-3, the 3rd steel wire rope 1-4, the 4th steel wire rope 1-18, the 5th steel wire rope 1-19, the 6th steel wire rope 1-20
Finger tip executing agency comprises medical stainless steel pipe 1-1, the excessive support 1-5 of finger tip, two the first conductor rope wheels, two the second conductor rope wheels, rope inner ring 1-9, finger tip A1-13, finger tip B1-14, finger tip link 1-17, finger tip A1-13 and finger B1-14 are arranged on finger tip link 1-17 by the first connecting axle 1-15, finger tip link 1-17 is arranged on the excessive support 1-5 of finger tip by the second connecting axle 1-6, the excessive support 1-5 of finger tip is arranged on medical stainless steel pipe 1-1, two the first sheave groups lay respectively at the both sides of finger tip link 1-17, each the first conductor rope wheels are connected with finger tip link 1-17 by the 3rd connecting axle, two the second sheave groups are arranged on respectively the both sides of the second connecting axle 1-6, rope inner ring 1-9 is arranged on the second connecting axle 1-6, and between finger tip link 1-17,
Driving and wiring mechanism comprise conductor rope wheels A installation panel 2-1, magnet ring 2-2, conductor rope wheels A2-3, pretension wheels 2-4, conductor rope wheels B installation panel 2-5, support 2-6, rope-winding wheel support 2-8, conductor rope wheels B2-9, electric machine support 2-10, three motor 2-11, conductor rope wheels A installation panel 2-1 is connected with medical stainless steel pipe 1-1, magnet ring 2-2 is arranged on conductor rope wheels A installation panel 2-1 periphery, conductor rope wheels A installation panel 2-1 has mounting groove, conductor rope wheels B installation panel 2-5 is arranged on magnet ring 2-2 below, support 2-6 is arranged on conductor rope wheels B installation panel 2-5 below, rope-winding wheel support 2-8 is arranged in support 2-6, and be positioned at conductor rope wheels B installation panel 2-5 below, electric machine support 2-10 is connected with support 2-6, three motor 2-11 are arranged on respectively electric machine support 2-10 inner side,
Conductor rope wheels A2-3 comprises three sheave support A2-3-1, three groups of sheave A, three sheave support A2-3-1 annulars are evenly distributed in the mounting groove of conductor rope wheels A installation panel 2-1, and each sheave support A2-3-1 is provided with one group of sheave A by the 4th connecting axle;
Pretension wheels 2-4 comprises pretension wheels bracing frame 2-4-1, three pretension wheel support 2-4-2, three groups of pre-bearings up pulley, pretension wheels bracing frame 2-4-1 is arranged under conductor rope wheels A installation panel 2-1, pretension wheels bracing frame 2-4-1 has mounting groove, each pretension wheel support 2-4-2 is provided with one group of pre-bearing up pulley by the 5th connecting axle, and three pretension wheel support 2-4-2 annulars are evenly distributed in the mounting groove of pretension wheels bracing frame 2-4-1;
Conductor rope wheels B2-9 comprises three sheave support B2-9-1, three groups of sheave B, three rotating shaft 2-9-8, six pairs of rope-winding wheels, three sheave support B2-9-1 are evenly distributed in the mounting groove of conductor rope wheels B installation panel 2-5, every group of sheave B is arranged on a sheave support B2-9-1 by the 6th connecting axle, each sheave support B2-9-1 installs a rotating shaft 2-9-8 in below, each rotating shaft 2-9-8 connects through the output shaft of rope-winding wheel support 2-8 the motor corresponding with it, the rotation of motor drives corresponding rotating shaft to rotate, in each rotating shaft, there are two pairs of rope-winding wheels that rotation direction is identical, two pairs of rope-winding wheels are arranged in rotating shaft in the mode that top is installed, every pair of rope-winding wheel is made up of rope-winding wheel A2-9-4 and rope-winding wheel B2-9-5,
The second conductor rope wheels that finger tip link 1-17 mono-side is walked around in the first steel wire rope 1-2 and second steel wire rope 1-3 one end with after the first conductor rope wheels, be connected with finger tip B1-14 with finger tip A1-13, the first steel wire rope 1-2 and the second steel wire rope 1-3 other end are walked around one group of sheave A in same direction successively, after one group of pre-measuring wheel and one group of sheave B, be wrapped on corresponding rope-winding wheel, the second conductor rope wheels that finger tip link 1-17 opposite side is walked around in the 4th steel wire rope 1-18 and the 5th steel wire rope 1-19 one end with after the first conductor rope wheels, be connected with finger tip B1-14 with finger tip A1-13, the 4th steel wire rope 1-18 and the 5th steel wire rope 1-19 other end are walked around one group of sheave A in same direction successively, after one group of pre-measuring wheel and one group of sheave B, be wrapped on corresponding rope-winding wheel, the 3rd steel wire rope 1-4 walks around rope inner ring 1-9 with the 6th steel wire rope 1-20 one end and is connected with finger tip link 1-17 respectively, the 3rd steel wire rope 1-4 and the 6th steel wire rope 1-20 other end are walked around one group of sheave A in same direction successively, after one group of pre-measuring wheel and one group of sheave B, be wrapped on corresponding rope-winding wheel.
Micro-wound operation robot of the present invention can also comprise with multiple degrees of freedom microoperation finger:
(1) driving and wiring mechanism also comprise thread bush A2-7, and electric machine support 2-10 is connected by thread bush A2-7 with support 2-6.
(2) each pretension wheel support 2-4-2 of pretension wheels 2-4 is connected with pretension wheels bracing frame 2-4-1 by a screw 2-4-3, by regulating three screw 2-4-3 to regulate the degree of tightness of the first steel wire rope 1-2, the second steel wire rope 1-3, the 3rd steel wire rope 1-4, the 4th steel wire rope 1-18, the 5th steel wire rope 1-19, the 6th steel wire rope 1-20.
(3) first conductor rope wheels comprise two the first sheaves, and the second conductor rope wheels comprise two the second sheaves, and every group of sheave A comprises two sheave A, and every group of sheave B comprises two sheave B, and every group of pre-bearing up pulley comprises two pre-bearings up pulley.
Beneficial effect of the present invention:
1, pitching of the present invention, beat, clamping three degree of freedom to realize mechanism simple, convenient operation and control.
2, compact conformation of the present invention, flexibly, working space is large in motion.
3, the end that the present invention can be arranged on operating robot can be widely used on all kinds of operating robots.
4, pitching of the present invention, beat, clamping DOF, is driven and is had pre-tightening apparatus by three driven by motor rope-winding wheels, and kinematic accuracy is high.
Brief description of the drawings
Fig. 1 is integrated machine composition of the present invention.
Fig. 2-a is finger tip of the present invention executing agency overall schematic, and Fig. 2-b is the STRUCTURE DECOMPOSITION figure of finger tip executing agency.
Fig. 3 is driving of the present invention and wiring structural scheme of mechanism.
Fig. 4-a is the structural representation of conductor rope wheels A, and Fig. 4-b is the steel wire rope distribution map of conductor rope wheels A.
Fig. 5-a is the structural representation of pretension wheels, and Fig. 5-b is the steel wire rope distribution map of pretension wheels.
Fig. 6-a is the structural representation of conductor rope wheels B, and Fig. 6-b is longitudinal planing surface figure of driving and wiring mechanism.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in detail.
In conjunction with Fig. 1, micro-wound operation robot of the present invention is mainly made up of finger tip executing agency 1, driving and wiring mechanism 2 with multiple degrees of freedom microoperation finger.
In conjunction with Fig. 2-a and Fig. 2-b, finger tip A1-13 and finger tip B1-14 are fixed on above finger tip link 1-17 by axle 1-15, it is upper that sheave 1-11,1-12 are fixed on finger tip link 1-17 by connecting axle 1-10, and in like manner an other side also has a pair of sheave to connect by connecting axle 1-16 finger tip link 1-17.Sheave 1-7,1-8 and two sheaves of an other side are connected with the excessive support 1-5 of finger tip by connecting axle 1-6 with rope inner ring 1-9, finger tip link 1-17, and finger tip transition bracket 1-5 is connected with medical stainless steel pipe 1-1 again.Steel wire rope 1-2,1-3 walk around sheave 1-7,1-8,1-11,1-12 are connected with finger tip B1-14 with finger tip A1-13.Steel wire rope 1-18,1-19 walk around finger tip link 1-17 opposite side sheave with the same manner is connected with finger tip B1-14 with finger tip A1-13.Steel wire rope 1-4,1-20 walk around rope inner ring 1-9 and are connected with finger tip link respectively.Can realize two finger tip 1-13 and the 1-14 forward bias pendular motion around connecting axle 1-15 by the motion of steel wire rope 1-2,1-19 like this; Can realize two finger tip 1-13 and 1-14 around connecting axle 1-15 finger tip opening movement by the motion of steel wire rope 1-2,1-18; Can realize two finger tip 1-13 and the 1-14 reverse beat motion around connecting axle 1-15 by the motion of steel wire rope 1-3,1-18; Can realize two finger tip 1-13 and 1-14 around connecting axle 1-15 finger tip closing motion by the motion of steel wire rope 1-3,1-19; Can realize two finger tip 1-13 and 1-14 elevating movement around connecting axle 1-6 together with finger tip link 1-17 by the motion of steel wire rope 1-4,1-20.Thereby realize the Three Degree Of Freedom of manipulator.
In conjunction with Fig. 3, conductor rope wheels A installation panel 2-1 is connected with medical stainless steel pipe 1-1, and magnet ring 2-2 is arranged on conductor rope wheels A installation panel 2-1.Conductor rope wheels 2-3 is arranged in the mounting groove of conductor rope wheels A installation panel 2-1 by screw.Pretension wheels 2-4, between conductor rope wheels A installation panel 2-1 and conductor rope wheels B installation panel 2-5, and is attached thereto respectively.Support 2-6 is fixed on conductor rope wheels B installation panel 2-5 by three screws.Electric machine support 2-10 is fixedly connected with by thread bush A2-7 with support 2-6.Motor 2-11 is fixed on electric machine support 2-10.Electric machine support 2-10 afterbody has a thread bush B2-12 to be attached thereto.Form thus the main body mechanism of driving and wiring mechanism.
In conjunction with Fig. 3, Fig. 4-a and Fig. 4-b, three groups of sheave support 2-3-1 annulars are distributed in the mounting groove on conductor rope wheels A installation panel 2-1.Wherein every group of sheave support 2-3-1 is fixed on conductor rope wheels A installation panel 2-1 by two screw 2-3-2.Two sheave 2-3-3,2-3-4 are connected on conductor rope wheels A support 2-3-1 by connecting axle 2-3-5.
In conjunction with Fig. 2, Fig. 4-b, steel wire rope 1-2,1-3,1-4,1-18,1-19,1-20 walk around respectively three groups of sheaves, are distributed on ringwise on conductor rope wheels A installation panel 2-1.
In conjunction with Fig. 3, Fig. 5-a and Fig. 5-b, three groups of pretension wheel support 2-4-2 are connected to pretension by three soket head cap screw 2-4-3 and take turns in the mounting groove of pack support 2-4-1 uniform ringwise.Sheave 2-4-5 is connected with pretension wheel support 2-4-2 by connecting axle 2-4-4 with sheave 2-4-6.
In conjunction with Fig. 2, Fig. 5-b, steel wire rope 1-2,1-3,1-4,1-18,1-19,1-20 walk around respectively three groups of sheaves, are distributed on ringwise on pretension wheel pack support 2-4-1.Thereby the degree of tightness of adjusting steel wire rope by regulating three soket head cap screw 2-4-3 can adjust pretension wheel support 2-4-2 to the distance of pretension wheel pack support 2-4-1 axis, makes steel wire rope 1-2,1-3,1-4,1-18,1-19,1-20 all the time in tensioning state.Thereby guarantee kinematic accuracy.
In conjunction with Fig. 6-a and Fig. 6-b, three groups of sheave support 2-9-1 are arranged in the mounting groove of conductor rope wheels B installation panel 2-5 by two soket head cap screw 2-9-2 separately, and three groups of sheaves are distributed on conductor rope wheels B installation panel 2-5 ringwise.Each group sheave support 2-9-1 has two sheaves to be arranged on sheave support 2-9-1 by connecting axle 2-9-12, steel wire rope 1-2,1-3,1-4,1-18,1-19,1-20 walk around respectively three groups of sheaves, are distributed on ringwise on pretension wheel pack support 2-4-1.Three rotating shaft 2-9-8 are distributed in the orientation with the same angle of sheave support 2-9-1 ringwise.In every rotating shaft, there are two pairs of rope-winding wheels, every pair of rope-winding wheel is made up of rope-winding wheel A2-9-4 and rope-winding wheel B2-9-5, wherein on rope-winding wheel A, there is complete helix wiring groove, rope-winding wheel B only plays the effect that fixing rope-winding wheel A is installed, and rope-winding wheel A and rope-winding wheel B are fixed on rotating shaft 2-9-8 by two screw 2-9-3.The rotation direction of these two pairs of rope-winding wheels is identical, and just mounting means is that top is installed, and rotating shaft 2-9-8 two becomes an entirety to rope-winding wheel like this, and rotating shaft can drive rope-winding wheel to rotate.Rope-winding wheel support 2-8 is connected with conductor rope wheels B installation panel 2-5 by three screw 2-9-6.The upper annular of rope-winding wheel support 2-8 is evenly equipped with three grooves bearing 2-9-7 is installed, the also fluted bearing 2-9-10 that installs on sheave support 2-9-1,
Bearing 2-9-10 and bearing 2-9-7, axle sleeve 2-9-11 are used for positioning rotating shaft 2-9-8.Shaft coupling 2-9-9 one end is coordinated with rotating shaft 2-9-8 and is connected by profile, and the other end is fixed by the output shaft of holding screw 2-9-13 and motor 2-11, and motor 2-11 is arranged on electric machine support 2-10 by screw 2-9-14.Steel wire rope 1-4,1-20 are respectively on corresponding with it rope-winding wheel, and in like manner steel wire rope 1-2,1-3 and steel wire rope 1-18,1-19 are also respectively on corresponding rope-winding wheel.The rotation of motor 2-11 can drive rotating shaft 2-9-8 to rotate and then drive the rotation of rope-winding wheel A2-9-4 and rope-winding wheel B2-9-4 like this.Thereby the length of steel wire rope 1-2,1-3,1-4,1-18,1-19,1-20 can change along with the rotation of motor 2-11, and then drive finger tip executing agency to make corresponding motion.
In conjunction with Fig. 1, Fig. 2-a, Fig. 2-b, Fig. 3, Fig. 4-a, Fig. 4-b, Fig. 5-a, Fig. 5-b, Fig. 6-a, Fig. 6-b, this micro-wound operation robot is carried out to general description by the function of the automatic microoperation finger of multiple degrees of freedom.This microoperation finger is mainly made up of finger tip executing agency 1 and driving and wiring mechanism 2.
There are pitching, beat, clamping three degree of freedom in finger tip executing agency 1.Can realize respectively the forward bias pendular motion of two finger tips around connecting axle 1-15 by the movement of steel wire rope 1-2,1-3,1-4,1-18,1-19,1-20; Can realize two finger tips around connecting axle 1-15 finger tip opening movement; Can realize the reverse beat motion of two finger tips around connecting axle 1-15; Can realize two finger tips around connecting axle 1-15 finger tip closing motion; Can realize the elevating movement around connecting axle 1-6 together with finger tip link 1-17 of two finger tips.Thereby realize the Three Degree Of Freedom of microoperation finger.
Driving and wiring mechanism 2 are mainly made up of conductor rope wheels A2-3, pretension wheels 2-4, conductor rope wheels B2-9 and motor, bracket component.Conductor rope wheels A2-3, pretension wheels 2-4, conductor rope wheels B2-9 from top to bottom form three layers of conductor rope wiring mechanism of mechanical arm successively.Electric machine support 2-10, support 2-6 and installation panel etc. are connected to form the external shell of mechanical arm by screw and thread bush.Conductor rope wheels B installation panel 2-5, by three screws, pretension is taken turns to pack support 2-4-1 and conductor rope wheels A installation panel 2-1 is connected as a single entity.Pretension wheel support 2-4-1 can change by adjusting screw 2-4-3 the position of support and adjust steel wire rope 1-2,1-3,1-4,1-18,1-19,1-20 degree of tightness state.Be steel wire rope in tensioning state, ensure motion progress.Steel wire rope 1-4,1-20 are respectively on corresponding with it rope-winding wheel, because these two rope-winding wheel rotation directions are identical, installation direction is contrary, steel wire rope 1-4 and steel wire rope 1-20 can be wrapped on rope-winding wheel simultaneously like this, in the time that rope-winding wheel hauls steel wire rope 1-4 motion, the lax part energy automatic winding of steel wire rope 1-20 is on rope-winding wheel, and equally in the time that rope-winding wheel hauls steel wire rope 1-20 motion, the lax part energy automatic winding of steel wire rope 1-4 is on rope-winding wheel.Steel wire rope 1-2,1-3 and steel wire rope 1-18,1-19 are also the same with steel wire rope 1-4,1-20 around motion principle on corresponding rope-winding wheel respectively.The rotation of motor 2-11 can drive rotating shaft 2-9-8 to rotate and then drive the rotation of rope-winding wheel A2-9-4 and rope-winding wheel B2-9-5.Thereby the length of steel wire rope 1-4,1-20 can change along with the rotation of motor 2-11, and then drive two finger tip 1-13, the 1-14 elevating movement around connecting axle 1-6 together with finger tip link 1-17 of finger tip executing agency 1.The length of steel wire rope 1-2,1-3 can change along with the rotation of corresponding motor A.Steel wire rope 1-18,1-19 obtain length and also can change along with the rotation of corresponding motor B.The positive rotating motor B of motor A reversion can drive the motion of steel wire rope 1-2,1-19 can realize two finger tip 1-13 and the 1-14 forward bias pendular motion around connecting axle 1-15; The positive rotating motor B of motor A forward can drive the motion of steel wire rope 1-2,1-18 can realize two finger tip 1-13 and 1-14 around connecting axle 1-15 finger tip opening movement; Motor A reverse motors B forward can drive the motion of steel wire rope 1-3,1-18 can realize two finger tip 1-13 and 1-14 moves around the reverse beat of connecting axle 1-15; Motor A reverse motors B reversion can drive by the motion of steel wire rope 1-3,1-19 can realize two finger tip 1-13 and 1-14 around connecting axle 1-15 finger tip closing motion.The clamping and the beat free degree that realize thus microoperation finger, add the above-mentioned pitching free degree, realizes the Three Degree Of Freedom of microoperation finger.
Claims (5)
1. multiple degrees of freedom microoperation finger for micro-wound operation robot, it is characterized in that: comprise finger tip executing agency (1), driving and wiring mechanism (2), the first steel wire rope (1-2), the second steel wire rope (1-3), the 3rd steel wire rope (1-4), the 4th steel wire rope (1-18), the 5th steel wire rope (1-19), the 6th steel wire rope (1-20)
Finger tip executing agency comprises medical stainless steel pipe (1-1), the excessive support of finger tip (1-5), two the first conductor rope wheels, two the second conductor rope wheels, rope inner ring (1-9), finger tip A(1-13), finger tip B(1-14), finger tip link (1-17), finger tip A(1-13) and finger tip B(1-14) be arranged on finger tip link (1-17) by the first connecting axle (1-15), finger tip link (1-17) is arranged on the excessive support of finger tip (1-5) by the second connecting axle (1-6), the excessive support of finger tip (1-5) is arranged on medical stainless steel pipe (1-1), two the first sheave groups lay respectively at the both sides of finger tip link (1-17), each the first conductor rope wheels are connected with finger tip link (1-17) by the 3rd connecting axle, two the second sheave groups are arranged on respectively the both sides of the second connecting axle (1-6), rope inner ring (1-9) is arranged on the second connecting axle (1-6), and be positioned between finger tip link (1-17),
Driving and wiring mechanism comprise conductor rope wheels A installation panel (2-1), magnet ring (2-2), conductor rope wheels A (2-3), pretension wheels (2-4), conductor rope wheels B installation panel (2-5), support (2-6), rope-winding wheel support (2-8), conductor rope wheels B (2-9), electric machine support (2-10), three motors (2-11), conductor rope wheels A installation panel (2-1) is connected with medical stainless steel pipe (1-1), magnet ring (2-2) is arranged on conductor rope wheels A installation panel (2-1) periphery, conductor rope wheels A installation panel (2-1) has mounting groove, conductor rope wheels B installation panel (2-5) is arranged on magnet ring (2-2) below, support (2-6) is arranged on conductor rope wheels B installation panel (2-5) below, and rope-winding wheel support (2-8) is arranged in support (2-6), and be positioned at conductor rope wheels B installation panel (2-5) below, electric machine support (2-10) is connected with support (2-6), three motors (2-11) are arranged on respectively electric machine support (2-10) inner side,
Conductor rope wheels A(2-3) comprise three sheave support A(2-3-1), three groups of sheave A, three sheave support A(2-3-1) annular is evenly distributed in the mounting groove of conductor rope wheels A installation panel (2-1), each sheave support A(2-3-1) by the 4th connecting axle, one group of sheave A is installed;
Pretension wheels (2-4) comprise pretension wheels bracing frame (2-4-1), three pretension wheel supports (2-4-2), three groups of pre-bearings up pulley, pretension wheels bracing frame (2-4-1) is arranged under conductor rope wheels A installation panel (2-1), pretension wheels bracing frame (2-4-1) has mounting groove, each pretension wheel support (2-4-2) is provided with one group of pre-bearing up pulley by the 5th connecting axle, and three pretension wheel supports (2-4-2) annular is evenly distributed in the mounting groove of pretension wheels bracing frame (2-4-1);
Conductor rope wheels B(2-9) comprise three sheave support B(2-9-1), three groups of sheave B, three rotating shafts (2-9-8), six pairs of rope-winding wheels, three sheave support B(2-9-1) be evenly distributed in the mounting groove of conductor rope wheels B installation panel (2-5), every group of sheave B is arranged on a sheave support B(2-9-1 by the 6th connecting axle) on, each sheave support B(2-9-1) a below rotating shaft of installation (2-9-8), each rotating shaft (2-9-8) connects through the output shaft of a rope-winding wheel support (2-8) the motor corresponding with it, the rotation of motor drives corresponding rotating shaft to rotate, in each rotating shaft, there are two pairs of rope-winding wheels that rotation direction is identical, two pairs of rope-winding wheels are arranged in rotating shaft in the mode that top is installed, every pair of rope-winding wheel is by rope-winding wheel A(2-9-4) and rope-winding wheel B(2-9-5) form,
The first steel wire rope (1-2) and the second steel wire rope (1-3) one end walk around the second conductor rope wheels of finger tip link (1-17) side with after the first conductor rope wheels with finger tip A(1-13) with finger tip B(1-14) be connected, the first steel wire rope (1-2) and the second steel wire rope (1-3) other end are walked around one group of sheave A in same direction successively, after one group of pre-measuring wheel and one group of sheave B, be wrapped on corresponding rope-winding wheel, the 4th steel wire rope (1-18) and the 5th steel wire rope (1-19) one end walk around the second conductor rope wheels of finger tip link (1-17) opposite side with after the first conductor rope wheels with finger tip A(1-13) with finger tip B(1-14) be connected, the 4th steel wire rope (1-18) and the 5th steel wire rope (1-19) other end are walked around one group of sheave A in same direction successively, after one group of pre-measuring wheel and one group of sheave B, be wrapped on corresponding rope-winding wheel, the 3rd steel wire rope (1-4) is walked around rope inner ring (1-9) with the 6th steel wire rope (1-20) one end and is connected with finger tip link (1-17) respectively, the 3rd steel wire rope (1-4) and the 6th steel wire rope (1-20) other end are walked around one group of sheave A in same direction successively, after one group of pre-measuring wheel and one group of sheave B, be wrapped on corresponding rope-winding wheel.
2. multiple degrees of freedom microoperation finger for micro-wound operation robot according to claim 1, it is characterized in that: described driving and wiring mechanism also comprise thread bush A (2-7), electric machine support (2-10) with support (2-6) by thread bush A(2-7) be connected.
3. multiple degrees of freedom microoperation finger for micro-wound operation robot according to claim 1 and 2, it is characterized in that: each pretension wheel support (2-4-2) of described pretension wheels (2-4) is connected with pretension wheels bracing frame (2-4-1) by a screw (2-4-3), by regulating three screws (2-4-3) to regulate the degree of tightness of the first steel wire rope (1-2), the second steel wire rope (1-3), the 3rd steel wire rope (1-4), the 4th steel wire rope (1-18), the 5th steel wire rope (1-19), the 6th steel wire rope (1-20).
4. multiple degrees of freedom microoperation finger for micro-wound operation robot according to claim 1 and 2, it is characterized in that: the first described conductor rope wheels comprise two the first sheaves, the second conductor rope wheels comprise two the second sheaves, every group of sheave A comprises two sheave A, every group of sheave B comprises two sheave B, and every group of pre-bearing up pulley comprises two pre-bearings up pulley.
5. multiple degrees of freedom microoperation finger for micro-wound operation robot according to claim 3, it is characterized in that: the first described conductor rope wheels comprise two the first sheaves, the second conductor rope wheels comprise two the second sheaves, every group of sheave A comprises two sheave A, every group of sheave B comprises two sheave B, and every group of pre-bearing up pulley comprises two pre-bearings up pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410125839.8A CN103895025B (en) | 2014-03-31 | 2014-03-31 | Micro-wound operation robot multiple degrees of freedom microoperation is pointed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410125839.8A CN103895025B (en) | 2014-03-31 | 2014-03-31 | Micro-wound operation robot multiple degrees of freedom microoperation is pointed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103895025A true CN103895025A (en) | 2014-07-02 |
| CN103895025B CN103895025B (en) | 2016-01-27 |
Family
ID=50986757
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410125839.8A Expired - Fee Related CN103895025B (en) | 2014-03-31 | 2014-03-31 | Micro-wound operation robot multiple degrees of freedom microoperation is pointed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103895025B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105212987A (en) * | 2015-09-29 | 2016-01-06 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of end effector mechanism of micro-apparatus of performing the operation |
| CN106691593A (en) * | 2016-12-30 | 2017-05-24 | 哈尔滨思哲睿智能医疗设备有限公司 | Micro instrument clamping mechanism for minimally invasive surgery |
| CN107928792A (en) * | 2017-12-11 | 2018-04-20 | 哈尔滨思哲睿智能医疗设备有限公司 | One kind is used for minimally invasive surgery robot multiple degrees of freedom needle holder |
| CN108340392A (en) * | 2018-03-19 | 2018-07-31 | 丁杨 | A kind of advanced manufacturing technology robot finger |
| CN110623746A (en) * | 2018-06-22 | 2019-12-31 | 深圳市精锋医疗科技有限公司 | Surgical robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1182662A (en) * | 1997-12-15 | 1998-05-27 | 天津市南开太阳高技术发展有限公司 | Micro-operation robot used for biomedicine engineering |
| CN1376631A (en) * | 2001-12-07 | 2002-10-30 | 清华大学 | Miniature manipulate with piezoelectric-type flexible drive and adjustable range |
| US20060119304A1 (en) * | 2003-07-08 | 2006-06-08 | Shane Farritor | Robot for surgical applications |
| JP2006239278A (en) * | 2005-03-07 | 2006-09-14 | Nst:Kk | Medical master operation device |
| CN101292902A (en) * | 2008-06-13 | 2008-10-29 | 哈尔滨工程大学 | Manual tiny mechanical arm for minimally invasive surgery |
| US8182470B2 (en) * | 2005-12-20 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Telescoping insertion axis of a robotic surgical system |
-
2014
- 2014-03-31 CN CN201410125839.8A patent/CN103895025B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1182662A (en) * | 1997-12-15 | 1998-05-27 | 天津市南开太阳高技术发展有限公司 | Micro-operation robot used for biomedicine engineering |
| CN1376631A (en) * | 2001-12-07 | 2002-10-30 | 清华大学 | Miniature manipulate with piezoelectric-type flexible drive and adjustable range |
| US20060119304A1 (en) * | 2003-07-08 | 2006-06-08 | Shane Farritor | Robot for surgical applications |
| JP2006239278A (en) * | 2005-03-07 | 2006-09-14 | Nst:Kk | Medical master operation device |
| US8182470B2 (en) * | 2005-12-20 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Telescoping insertion axis of a robotic surgical system |
| CN101292902A (en) * | 2008-06-13 | 2008-10-29 | 哈尔滨工程大学 | Manual tiny mechanical arm for minimally invasive surgery |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105212987A (en) * | 2015-09-29 | 2016-01-06 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of end effector mechanism of micro-apparatus of performing the operation |
| CN105212987B (en) * | 2015-09-29 | 2018-03-16 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of end effector mechanism for micro- apparatus of performing the operation |
| CN106691593A (en) * | 2016-12-30 | 2017-05-24 | 哈尔滨思哲睿智能医疗设备有限公司 | Micro instrument clamping mechanism for minimally invasive surgery |
| CN106691593B (en) * | 2016-12-30 | 2023-12-19 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Micro-instrument clamping mechanism for minimally invasive surgery |
| CN107928792A (en) * | 2017-12-11 | 2018-04-20 | 哈尔滨思哲睿智能医疗设备有限公司 | One kind is used for minimally invasive surgery robot multiple degrees of freedom needle holder |
| CN108340392A (en) * | 2018-03-19 | 2018-07-31 | 丁杨 | A kind of advanced manufacturing technology robot finger |
| CN108340392B (en) * | 2018-03-19 | 2019-01-25 | 上海芭熹机器人有限责任公司 | A kind of advanced manufacturing technology robot finger |
| CN110623746A (en) * | 2018-06-22 | 2019-12-31 | 深圳市精锋医疗科技有限公司 | Surgical robot |
| CN110623746B (en) * | 2018-06-22 | 2021-05-11 | 深圳市精锋医疗科技有限公司 | Surgical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103895025B (en) | 2016-01-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103919610B (en) | The armed arm mechanism of multiple degrees of freedom micro-wound surgical operation | |
| CN103895025B (en) | Micro-wound operation robot multiple degrees of freedom microoperation is pointed | |
| CN106903120B (en) | A kind of single two-way crawling formula pipeline cleaning machine people of drive | |
| CN107411821B (en) | Five degree of freedom flexibility Needle-driven Robot | |
| CN103707292B (en) | Based on the 6DOF industrial robot of XYZ rectangular co-ordinate joint and attitude wrist | |
| CN104116547B (en) | The little inertia operating theater instruments of low friction for micro-wound operation robot | |
| CN208838162U (en) | Axial displacement adjustment structure | |
| CN105644646B (en) | A kind of wheeled climbing level robot | |
| CN102601783B (en) | Intelligent manipulator device capable of automatically placing glass fiber strand barrel | |
| CN103565529A (en) | Robot-assisted multifunctional instrument arm for minimally invasive surgery | |
| CN103584918B (en) | Remote control gets involved robot system | |
| CN101862223A (en) | Operating robot | |
| CN101773401B (en) | Surgical operation robot multiple degree of freedom finger | |
| KR20110034989A (en) | 4-dof parallel mechanism and needle insertion device using 4-dof parallel mechanism | |
| CN205885526U (en) | Nimble operation shoulder joint | |
| CN105030479A (en) | Ankle rehabilitation robot based on three-freedom-degree parallel mechanism | |
| CN109925161B (en) | Bionic power-assisted flexible exoskeleton mechanism for glenohumeral joint | |
| CN108748188B (en) | A kind of complicated rod-shaped multi-freedom robot system of climbing | |
| CN101933841A (en) | Four degree-of-freedom parallel robot with bipolar coordinate | |
| CN206310157U (en) | A kind of pipeline climbing robot | |
| CN116138857A (en) | Flexible needle puncture device with multiple degrees of freedom and mechanical arm for adjusting needle insertion angle | |
| CN107351939A (en) | Legged type robot leg mechanism | |
| CN106983632B (en) | Transmission mechanism of ankle rehabilitation robot | |
| CN107128393B (en) | A kind of telescopic Foot sole structure of robot of flippers | |
| CN105480313B (en) | A kind of reconstruct formula caterpillar robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160127 |