CN103895025B - Micro-wound operation robot multiple degrees of freedom microoperation is pointed - Google Patents
Micro-wound operation robot multiple degrees of freedom microoperation is pointed Download PDFInfo
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- CN103895025B CN103895025B CN201410125839.8A CN201410125839A CN103895025B CN 103895025 B CN103895025 B CN 103895025B CN 201410125839 A CN201410125839 A CN 201410125839A CN 103895025 B CN103895025 B CN 103895025B
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Abstract
The invention discloses a kind of micro-wound operation robot multiple degrees of freedom microoperation finger with pitching, beat, clamping DOF.Comprise finger tip executing agency, driving and wiring mechanism and steel wire rope, driving and wiring mechanism comprise conductor rope wheels A, pretension wheels, conductor rope wheels B, motor, conductor rope wheels B comprises three groups of sheave B and six group wiring wheels, three motor-driven rotatable shaft drive corresponding rope-winding wheel to rotate respectively and then realize the movement of steel wire rope, and the movement of steel wire rope can realize the motion of finger tip three degree of freedom.The present invention has clamping, pitching, beat three degree of freedom, stability and flexibility good, meet micro-wound operation robot to operation operating space demand.
Description
Technical field
The invention belongs to the Medical Devices of Minimally Invasive Surgery, particularly a kind of have pitching, beat, clamping DOF the microoperation of micro-wound operation robot multiple degrees of freedom finger.
Background technology
Compared with conventional open surgery, Minimally Invasive Surgery in result for the treatment of, palliate the agonizing sufferings, the restore cycle, there is clear superiority in medical treatment cost etc.It is mainly performed the operation with small wound by the medicine equipment of advanced person 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 intelligent and precise development.The IntuitiveSurgical company of the U.S. have developed DaVinci minimally-invasive surgery robot system in the world, and ComputerMotion company have developed ZEUS system and all successfully pushes to clinical, but surgery cost is expensive.The domestic research also starting abdominal operation robot of Wicresoft at present, " highly skilled man " system that University Of Tianjin have studied but also there is very large gap with comparing abroad, current domestic abdominal operation mainly uses manual micro-apparatus to operate, 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, thus improve the difficulty of operation technique, reduce procedure 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.
Micro-wound operation robot multiple degrees of freedom microoperation finger of the present invention, comprise finger tip executing agency 1, drive and wiring mechanism 2, 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 is 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 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 the both sides of the second connecting axle 1-6 respectively, 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, it is peripheral that magnet ring 2-2 is arranged on conductor rope wheels A installation panel 2-1, conductor rope wheels A installation panel 2-1 has mounting groove, conductor rope wheels B installation panel 2-5 is arranged on below magnet ring 2-2, support 2-6 is arranged on below conductor rope wheels B installation panel 2-5, rope-winding wheel support 2-8 is arranged in support 2-6, and be positioned at below conductor rope wheels B installation panel 2-5, electric machine support 2-10 is connected with support 2-6, three motor 2-11 are arranged on inside electric machine support 2-10 respectively,
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, under pretension wheels bracing frame 2-4-1 is arranged on 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, often organizing sheave B is arranged on a sheave support B2-9-1 by the 6th connecting axle, below each sheave support B2-9-1, a rotating shaft 2-9-8 is installed, each rotating shaft 2-9-8 passes a rope-winding wheel support 2-8 and the output shaft of the motor corresponding with it connects, the rotation of motor drives corresponding axis of rotation, each rotating shaft there is the rope-winding wheel that two pairs of rotation directions are identical, two pairs of rope-winding wheels are arranged in rotating shaft in the mode of installing top, often 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 side is walked around in first steel wire rope 1-2 and second steel wire rope 1-3 one end are connected with finger tip B1-14 with finger tip A1-13 with after the first conductor rope wheels, first steel wire rope 1-2 and the second steel wire rope 1-3 other end walk around one group of sheave A on same direction successively, be wrapped on corresponding rope-winding wheel after one group of pre-bearing up pulley and one group of sheave B, the second conductor rope wheels that finger tip link 1-17 opposite side is walked around in 4th steel wire rope 1-18 and the 5th steel wire rope 1-19 one end are connected with finger tip B1-14 with finger tip A1-13 with after the first conductor rope wheels, 4th steel wire rope 1-18 and the 5th steel wire rope 1-19 other end walk around one group of sheave A on same direction successively, be wrapped on corresponding rope-winding wheel after one group of pre-bearing up pulley and one group of sheave B, 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, 3rd steel wire rope 1-4 and the 6th steel wire rope 1-20 other end walk around one group of sheave A on same direction successively, be wrapped on corresponding rope-winding wheel after one group of pre-bearing up pulley and one group of sheave B.
Micro-wound operation robot multiple degrees of freedom microoperation finger of the present invention can also comprise:
(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 the degree of tightness regulating three screw 2-4-3 to regulate 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 by a screw 2-4-3.
(3) first conductor rope wheels comprise two the first sheaves, and the second conductor rope wheels comprise two the second sheaves, often organize sheave A and comprise two sheave A, often organize sheave B and comprise two sheave B, often organize pre-bearing up pulley and comprise 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 robot.
4, pitching of the present invention, beat, clamping DOF, driven by three driven by motor rope-winding wheels and had pre-tightening apparatus, kinematic accuracy is high.
Accompanying drawing explanation
Fig. 1 is integrated machine composition of the present invention.
Fig. 2-a is finger tip executing agency of the present invention 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.
Composition graphs 1, micro-wound operation robot multiple degrees of freedom microoperation finger of the present invention forms primarily of finger tip executing agency 1, driving and wiring mechanism 2.
Composition graphs 2-a and Fig. 2-b, finger tip A1-13 and finger tip B1-14 is fixed on above finger tip link 1-17 by the first connecting axle 1-15, sheave 1-11,1-12 are fixed on finger tip link 1-17 by connecting axle 1-10, and in like manner side also has a pair sheave to be connected by the 3rd connecting axle 1-16 finger tip link 1-17 in addition.Sheave 1-7,1-8 and in addition two, side sheave are connected with the excessive support 1-5 of finger tip by the second 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.First steel wire rope 1-2, the second steel wire rope 1-3 walk around sheave 1-7,1-8,1-11,1-12 and are connected with finger tip B1-14 with finger tip A1-13.The sheave that 4th steel wire rope 1-18, the 5th steel wire rope 1-19 walk around finger tip link 1-17 opposite side is in the same fashion connected with finger tip B1-14 with finger tip A1-13.3rd steel wire rope 1-4, the 6th steel wire rope 1-20 walk around rope inner ring 1-9 and are connected with finger tip link respectively.The forward bias pendular motion of two finger tip 1-13 and 1-14 around the first connecting axle 1-15 can be realized like this by the motion of the first steel wire rope 1-2, the 5th steel wire rope 1-19; Two finger tip 1-13 and 1-14 can be realized around the first connecting axle 1-15 finger tip opening movement by the motion of the first steel wire rope 1-2, the 4th steel wire rope 1-18; The reverse beat motion of two finger tip 1-13 and 1-14 around the first connecting axle 1-15 can be realized by the motion of the second steel wire rope 1-3, the 4th steel wire rope 1-18; Two finger tip 1-13 and 1-14 can be realized around the first connecting axle 1-15 finger tip closing motion by the motion of the second steel wire rope 1-3, the 5th steel wire rope 1-19; Two finger tip 1-13 with 1-14 can be realized together with the elevating movement of finger tip link 1-17 around the second connecting axle 1-6 by the motion of the 3rd steel wire rope 1-4, the 6th steel wire rope 1-20.Thus realize the Three Degree Of Freedom of manipulator.
Composition graphs 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 is 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.Thus form the main body mechanism of driving and wiring mechanism.
Composition graphs 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 often organize sheave support 2-3-1 to be fixed on conductor rope wheels A installation panel 2-1 by two screw 2-3-2.Two sheaves 2-3-3,2-3-4 are connected on conductor rope wheels A support 2-3-1 by connecting axle 2-3-5.
Composition graphs 2, Fig. 4-b, 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 walk around three groups of sheaves respectively, are distributed on ringwise on conductor rope wheels A installation panel 2-1.
Composition graphs 3, Fig. 5-a and Fig. 5-b, three groups of pretension wheel support 2-4-2 are connected in the mounting groove of pretension wheel pack support 2-4-1 uniform ringwise by three soket head cap screw 2-4-3.Sheave 2-4-5 is connected with pretension wheel support 2-4-2 by connecting axle 2-4-4 with sheave 2-4-6.
Composition graphs 2, Fig. 5-b, 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 walk around three groups of sheaves respectively, are distributed on ringwise on pretension wheel pack support 2-4-1.Pretension wheel support 2-4-2 can be adjusted by regulating three soket head cap screw 2-4-3 and take turns the distance of pack support 2-4-1 axis thus the degree of tightness of adjustment steel wire rope to pretension, make 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 be in tensioning state all the time.Thus guarantee kinematic accuracy.
Composition graphs 6-a and Fig. 6-b, three groups of sheave support 2-9-1 are arranged on each via two soket head cap screw 2-9-2 in the mounting groove of conductor rope wheels B installation panel 2-5, and three groups of sheaves are distributed on conductor rope wheels B installation panel 2-5 ringwise.Each group of sheave support 2-9-1 has two sheaves to be arranged on sheave support 2-9-1 by connecting axle 2-9-12, 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 walk around three groups of sheaves respectively, are distributed on ringwise on pretension wheel pack support 2-4-1.Three rotating shaft 2-9-8 are distributed on ringwise with in the orientation of the same angle of sheave support 2-9-1.Every root rotating shaft there are two pairs of rope-winding wheels, often pair of rope-winding wheel is made up of rope-winding wheel A2-9-4 and rope-winding wheel B2-9-5, wherein rope-winding wheel A there is complete helix wiring groove, rope-winding wheel B only plays the effect of installing fixing rope-winding wheel A, and rope-winding wheel A and rope-winding wheel B is 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 install top, and such rotating shaft 2-9-8 two pairs of rope-winding wheels become an entirety, 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.On rope-winding wheel support 2-8, annular is evenly equipped with three grooves to install bearing 2-9-7, also flutedly on sheave support 2-9-1 installs bearing 2-9-10,
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 connected with rotating shaft 2-9-8 by positive, 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 2-9-14.3rd steel wire rope 1-4, the 6th steel wire rope 1-20 are respectively around on rope-winding wheel corresponding with it, and in like manner the first steel wire rope 1-2, the second steel wire rope 1-3 and the 4th steel wire rope 1-18, the 5th steel wire rope 1-19 are also respectively around on the rope-winding wheel of correspondence.The rotation of such 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.Thus the length 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 can change along with the rotation of motor 2-11, and then drives finger tip executing agency to make corresponding motion.
Composition graphs 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, carry out general description to this micro-wound operation robot function of the automatic microoperation finger of multiple degrees of freedom.This microoperation finger forms primarily 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.The forward bias pendular motion of two finger tips around the first connecting axle 1-15 can be realized respectively by the movement 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; Two finger tips can be realized around the first connecting axle 1-15 finger tip opening movement; The reverse beat motion of two finger tips around the first connecting axle 1-15 can be realized; Two finger tips can be realized around the first connecting axle 1-15 finger tip closing motion; Two finger tips can be realized together with the elevating movement of finger tip link 1-17 around the second connecting axle 1-6.Thus realize the Three Degree Of Freedom of microoperation finger.
Driving and wiring mechanism 2 are primarily of conductor rope wheels A2-3, pretension wheels 2-4, conductor rope wheels B2-9 and motor, bracket component composition.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 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 support position by adjusting screw 2-4-3 adjusts 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 degree of tightness state.Be that steel wire rope is in tensioning state, ensure motion progress.3rd steel wire rope 1-4, the 6th steel wire rope 1-20 are respectively around on rope-winding wheel corresponding with it, because these two rope-winding wheel rotation directions are identical, installation direction is contrary, such 3rd steel wire rope 1-4 and the 6th steel wire rope 1-20 can be wrapped on rope-winding wheel simultaneously, when rope-winding wheel hauls the 3rd steel wire rope 1-4 motion, the part energy automatic winding that 6th steel wire rope 1-20 relaxes is on rope-winding wheel, equally when rope-winding wheel hauls the 6th steel wire rope 1-20 motion, the part energy automatic winding that the 3rd steel wire rope 1-4 relaxes is on rope-winding wheel.First steel wire rope 1-2, the second steel wire rope 1-3 and the 4th steel wire rope 1-18, the 5th steel wire rope 1-19 are also the same with the 3rd steel wire rope 1-4, the 6th steel wire rope 1-20 around motion principle on the rope-winding wheel of correspondence 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.Thus the length of the 3rd steel wire rope 1-4, the 6th steel wire rope 1-20 can change along with the rotation of motor 2-11, and then drives two finger tips 1-13,1-14 of finger tip executing agency 1 together with the elevating movement of finger tip link 1-17 around the second connecting axle 1-6.The length of the first steel wire rope 1-2, the second steel wire rope 1-3 can change along with the rotation of corresponding motor A.4th steel wire rope 1-18, the 5th steel wire rope 1-19 obtain length and also can change along with the rotation of corresponding motor B.The positive rotating motor B reversion of motor A can drive the first steel wire rope 1-2, the motion of the 5th steel wire rope 1-19 can realize the forward bias pendular motion of two finger tip 1-13 and 1-14 around the first connecting axle 1-15; The positive rotating motor B of motor A rotates forward can drive the first steel wire rope 1-2, the motion of the 4th steel wire rope 1-18 can realize two finger tip 1-13 and 1-14 around the first connecting axle 1-15 finger tip opening movement; Motor A reverse motors B rotates forward can drive the second steel wire rope 1-3, the motion of the 4th steel wire rope 1-18 can realize the reverse beat motion of two finger tip 1-13 and 1-14 around the first connecting axle 1-15; Motor A reverse motors B reversion can drive and can realize two finger tip 1-13 and 1-14 around the first connecting axle 1-15 finger tip closing motion by the motion of the second steel wire rope 1-3, the 5th steel wire rope 1-19.Realize clamping and the beat free degree of microoperation finger thus, add above-mentioned pitch freedom, realize the Three Degree Of Freedom of microoperation finger.
Claims (5)
1. micro-wound operation robot multiple degrees of freedom microoperation is pointed, it is characterized in that: comprise finger tip executing agency (1), drive 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) is 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 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 the both sides of the second connecting axle (1-6) respectively, 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), it is peripheral that magnet ring (2-2) is arranged on conductor rope wheels A installation panel (2-1), 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 motors (2-11) are arranged on electric machine support (2-10) inner side respectively,
Conductor rope wheels A (2-3) comprises three sheave support A (2-3-1), three groups of sheave A, three sheave support A (2-3-1) annulars are evenly distributed in the mounting groove of conductor rope wheels A installation panel (2-1), and each sheave support A (2-3-1) is provided with one group of sheave A by the 4th connecting axle;
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, under pretension wheels bracing frame (2-4-1) is arranged on 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 B (2-9) comprises 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) are evenly distributed in the mounting groove of conductor rope wheels B installation panel (2-5), often organizing sheave B is arranged on a sheave support B (2-9-1) by the 6th connecting axle, a rotating shaft (2-9-8) is installed in each sheave support B (2-9-1) below, each rotating shaft (2-9-8) through a rope-winding wheel support (2-8) and the output shaft of the motor corresponding with it connect, the rotation of motor drives corresponding axis of rotation, each rotating shaft there is the rope-winding wheel that two pairs of rotation directions are identical, two pairs of rope-winding wheels are arranged in rotating shaft in the mode of installing top, often pair of rope-winding wheel is made up of rope-winding wheel A (2-9-4) and rope-winding wheel B (2-9-5),
The second conductor rope wheels that finger tip link (1-17) side is walked around in first steel wire rope (1-2) and the second steel wire rope (1-3) one end are connected with finger tip B (1-14) with finger tip A (1-13) with after the first conductor rope wheels, first steel wire rope (1-2) and the second steel wire rope (1-3) other end walk around one group of sheave A on same direction successively, be wrapped on corresponding rope-winding wheel after one group of pre-bearing up pulley and one group of sheave B, the second conductor rope wheels that finger tip link (1-17) opposite side is walked around in 4th steel wire rope (1-18) and the 5th steel wire rope (1-19) one end are connected with finger tip B (1-14) with finger tip A (1-13) with after the first conductor rope wheels, 4th steel wire rope (1-18) and the 5th steel wire rope (1-19) other end walk around one group of sheave A on same direction successively, be wrapped on corresponding rope-winding wheel after one group of pre-bearing up pulley and one group of sheave B, 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, 3rd steel wire rope (1-4) and the 6th steel wire rope (1-20) other end walk around one group of sheave A on same direction successively, be wrapped on corresponding rope-winding wheel after one group of pre-bearing up pulley and one group of sheave B.
2. micro-wound operation robot multiple degrees of freedom microoperation finger 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) is connected by thread bush A (2-7) with support (2-6).
3. micro-wound operation robot multiple degrees of freedom microoperation finger 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 the degree of tightness regulating three screws (2-4-3) to regulate 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. micro-wound operation robot multiple degrees of freedom microoperation finger according to claim 1 and 2, it is characterized in that: the first described conductor rope wheels comprise two the first sheaves, second conductor rope wheels comprise two the second sheaves, often organize sheave A and comprise two sheave A, often organize sheave B and comprise two sheave B, often organize pre-bearing up pulley and comprise two pre-bearings up pulley.
5. micro-wound operation robot multiple degrees of freedom microoperation finger according to claim 3, it is characterized in that: the first described conductor rope wheels comprise two the first sheaves, second conductor rope wheels comprise two the second sheaves, often organize sheave A and comprise two sheave A, often organize sheave B and comprise two sheave B, often organize pre-bearing up pulley and comprise two pre-bearings up pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| 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 |
| CN110623746B (en) * | 2018-06-22 | 2021-05-11 | 深圳市精锋医疗科技有限公司 | Surgical robot |
Citations (5)
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| 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 |
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7126303B2 (en) * | 2003-07-08 | 2006-10-24 | Board Of Regents Of The University Of Nebraska | Robot for surgical applications |
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Patent Citations (5)
| 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 |
| 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 |
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