CN1457747A - Mechanical arm used in microsurgery operation robot - Google Patents
Mechanical arm used in microsurgery operation robot Download PDFInfo
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- CN1457747A CN1457747A CN03129938A CN03129938A CN1457747A CN 1457747 A CN1457747 A CN 1457747A CN 03129938 A CN03129938 A CN 03129938A CN 03129938 A CN03129938 A CN 03129938A CN 1457747 A CN1457747 A CN 1457747A
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Abstract
The mechanical arm used in microsurgery operation robot includes one frame assembly, one large arm assembly with one end connected to the frame assembly for coarse positioning in 3D rectangular coordinate system, one precise regulating mechanism set to the other end of the large arm assembly for precise positioning in 3D rectangular coordinate system, robot fingers connected to the precise regulating mechanism for micro shift in the required operation range, and small arm assembly for regulating the 2D posture of fingers. The large arm assembly completes the coarse regulation in three directions X, Y and Z; while the precise regulating mechanism completes the micro displacement in three directions X, Y and Z. The system of the present invention has high rigidity, precision and reliability.
Description
Technical field
The present invention relates to a kind of armarium, relate in particular to the parts of used armarium in a kind of microsurgery.
Background technology
Usually, in microsurgery, because operational objectives is very narrow and small, for example, the diameter of human vas is generally less than 2mm, and surgical work is chronic, make the doctor feel very tired out, vibration, the fatigue of doctor's hands, the feedback of muscle nerve may occur, what cause moving is inaccurate, strengthen patient's misery, reduced the success rate of operation.At present, be starved of a kind of can be under the situation of the microoperation of finishing a series of complexity exactly, and don't the ideal full self-determination type intelligent robot of damage tissue, this full self-determination type intelligent robot can also be adjusted operating process according to the contact force information in the operating process simultaneously exactly except having micro-vision and monitoring.But also do not possess the technology that realizes above-mentioned full self-determination type intelligent robot function so far.Therefore, the operation of the accurate anastomosis of blood vessel of many complexity also needs people's participation, adopts principal and subordinate's remote operation mode, that is, and and the microsurgery robot of master-slave mode.Up to now, the domestic mechanical arm that only is applied in the industry also is not used in the mechanical arm in the microsurgery robot.
Abroad the remote manipulation microsurgery robot by people such as the Mamoru Mitsuishi of Tokyo Univ Japan exploitation is in experimental stage; The microsurgery robot system that U.S. Johns Hopkins University develops, main feature is effectively to suppress trembling of staff in the operating process, but is mainly used in the acupuncture treatment process in the eye surgery, action is simple.
The remote manipulation microsurgery robot system that has intelligent user interface of people such as the Mamoru Mitsuishi of Tokyo Univ Japan exploitation: Tele-micro-surgery system with intelligent user interface.MamoruMITSUISIH, Shin TOMISAKI, Takumi YOSHIDOME, Hiroyuki HASHIZUME and KazuoFUJIWARA.Procee-dings of the 2000 IEEE international Conference on Robotics andAutomation San Francisco (in January, 2000, included by San Francisco IEEE robot and automatization's international conference, IEEE: the electric Electronic Engineering Association of closing), CA.April 2000.
U.S. Johns Hopkins University develops makes the stable enhanced microsurgery robot aid system of hands: A Steady-Hand Robotic System for Microsurgical Augmentation.Russell Taylor, etc, The Johns Hopkins University (John Hope spun gold university), Department ofComputer Science (the peaceful engineering college of White), Whiting School of Engineering (computer science department) .To Appear inInternational Journal of Robotics Reasearch (international robot research magazine is published), 18 (2): 1201-1210December 1999 Final Form, August 29,1999
At deficiency of the prior art, technical problem to be solved by this invention has provided the mechanical arm that is used for microsurgery robot, the silk transmission is adopted in the driving of wrist attitude mechanism, has reduced the load of space manipulator, and therefore reduces the size and the weight of mechanical arm; And combining the advantage of motor transmission and silk transmission, the design that the position adjustment adopts three axis congruences to hand over has the characteristics of the simple and reliable in action of control; The space of mechanism is arranged the space segment that needs except that the assurance patient, and the maximum operational movement of doctor space also is provided; Whole system has higher rigidity, precision and reliability, can be suppressed at trembling of staff in the whole operation process effectively.
In order to solve the problems of the technologies described above, the present invention is used for the mechanical arm of microsurgery robot, being used to of comprising that an end is connected with bracket component realized in the rectangular coordinate system three directions big arm member of Primary Location on a large scale, the other end of described big arm member is provided with the accurate location that is used to realize three directions in the rectangular coordinate system, to guarantee that the robot finger realizes minute movement in specified working range, the fine-tuning mechanism that reaches resetting be connected with fine-tuning mechanism be used for the clamping robot finger, and realize the little arm member that finger both direction attitude is adjusted; Described bracket component comprises the cylinder that links to each other with base, and cylinder top is provided with governor motion, and described governor motion adopts guide rail and lead screw transmission structure; Described big arm member comprises the crotch of Y-shaped, the one end is provided with the backboard that is connected with governor motion on the bracket component, Cha Kai two ends are respectively arranged with the big arm of symmetrical configuration in addition, and described big arm comprises the coarse adjustment campaign that is realized X, Y, three directions of Z by large, medium and small three tower structures respectively; Described big frame is fixed on the governor motion on the bracket component, described middle frame relies on X to be connected with big frame with rolling mechanism to guide rail, being fixed on the small frame underframe of described small frame, the underframe of described small frame relies on Y to be supported on the described middle frame to guide rail and rolling mechanism, described big armed lever upper end relies on Z to be connected with small frame to guide rail, and described big armed lever lower end is connected with described fine-tuning mechanism; Described large, medium and small three tower structures coupling part successively comprise installing plate, guide rail, slide plate, bearing, suspension bracket and silk drive mechanism respectively; Described small frame comprises installing plate, guide rail, silk transmission and balance weight mechanism with the coupling part of big armed lever; The motion of described X, Y, three directions of Z relies on motor-driven silk drive mechanism to finish respectively, described silk drive mechanism comprises the gear reduction that is connected with described motor, be wrapped on the gear reduction outfan thread, be used for rope sheave, the stretcher of a guide effect; Described fine-tuning mechanism comprise rely on Z that Z links to each other with from little arm member to T type screw frid to mechanism, rely on Y that Y links to each other with from big arm member to T type screw frid to mechanism be positioned at the fine-tuning mechanism middle part and rely on X to link to each other to mechanism with Z to the base front end-plate, dependence is moved X that base of the rail plate and Y link to each other to mechanism to mechanism; The X of described fine-tuning mechanism, Y, Z three direction micro-adjusting mechanisms adopt the motor-driven leading screw respectively, and rely on the screw thread transmission to be converted to rectilinear motion rotatablely moving, thereby realize the micro-displacement of X, Y, Z three directions; Described little arm member comprises the wrist attitude mechanism and the finger clamp mechanism that links to each other with wrist attitude mechanism that is positioned at rear end and the connecting plate that links to each other with above-mentioned fine-tuning mechanism, is positioned at front end; That described connecting plate connects successively is back, in, preceding armed lever and described back, in two sections armed levers and in, adopt the joint type of attachment of screw, spring washer and nut between preceding two sections armed levers, described joint can manually change the attitude of whole little arm, remains unchanged after fixing; Described wrist attitude mechanism adopts a drive mechanism of being made up of steel wire loop, rope sling support and rope sheave respectively, described silk drive mechanism and have circulation of one's own with outer wire rope pulley and the steel wire loop of the motor on the described big armed lever, under the driving of motor, realize the attitude adjustment of finger both direction in coordinate system by the transmission of steel wire; Described finger clamp mechanism comprises and is used for the snap close, finger bracket and the support part that links to each other with above-mentioned wrist attitude mechanism of clamping device finger.
The present invention is used for being provided with shaft coupling between the output shaft of motor in the fine-tuning mechanism described in the mechanical arm of microsurgery robot and the leading screw.The below of described bracket component base is provided with castor.Described bracket component governor motion comprises the handwheel that is positioned at the cylinder top, with handwheel lead screw transmission parts that drive and the slide plate that is positioned on the governor motion.Big arm in the described big arm member is connected with the T type screw frid of Y on the base end plate in the described fine-tuning mechanism.Big frame in the described big arm member is connected with the slide plate in the bracket component.For proof strength and rigidity, the crotch of Y-shaped and described backboard in the described big arm member, and be the relation of being welded to connect between back armed lever and the connecting plate.The connection of the X described in the described fine-tuning mechanism, Y, Z all directions mechanism is all adopted and is threaded.
The mechanical arm that the present invention is used for microsurgery robot compared with prior art has following beneficial effect:
1. to be used for the mechanical arm topology layout of microsurgery robot be rectangular coordinate in the present invention, requires simple relatively to control system;
2. motion is synthetic by coarse adjustment and accurate adjustment two parts among the present invention, has both satisfied on a large scale and has moved, and can realize the accurate motor control that field of operation is meticulous again;
3. the space of the mechanical arm among the present invention is arranged the space segment that needs except that the assurance patient, and the maximum operational movement of doctor space also is provided;
4. the silk transmission is adopted in the driving of the wrist attitude mechanism among the present invention, has reduced the load of space manipulator, and therefore reduces the size and the weight of mechanical arm;
5. the wrist in the wrist attitude mechanism among the present invention adopts the design that three axis congruences are handed over, and reduces the compensation dosage of pose when attitude is adjusted;
6. little, the big arm in the mechanical arm among the present invention is provided with a plurality of hand adjustments joint, is convenient to the adjusting of operating position and attitude;
7. whole system of the present invention has higher rigidity, precision and reliability.
Description of drawings
Fig. 1 is the structural representation (ratio is about 1: 16) that the present invention is used for the mechanical arm of microsurgery robot;
Fig. 2 is the structural representation (ratio is about 1: 9.5) of bracket component shown in Fig. 1;
Fig. 3-the 1st, the structural representation (ratio is about 1: 6.5) of big arm member shown in Fig. 1;
Fig. 3-the 2nd, the right view (ratio is about 1: 6.5) of big arm member shown in Fig. 3-1;
Fig. 4 is the structural representation (ratio is about 1: 1.2) of fine-tuning mechanism shown in Fig. 1;
Fig. 5-the 1st, the structural representation of little arm member shown in Fig. 1 (ratio is about 1: 1.2);
Fig. 5-the 2nd, the structural representation (ratio is about 1.4: 1) of finger clamp mechanism in the little arm member shown in Fig. 5-1.
Because the size of each parts differs bigger among the present invention, clear in order to guarantee figure line, the ratio of each width of cloth figure is different.
It below is the explanation of main Reference numeral in the Figure of description of the present invention.
The big arm member of 1---bracket component 2---
The little arm member of 3---fine-tuning mechanisms 4---
101---base 102---cylinder
103---governor motion 104---slide plate
105---castor 106---handwheel
107---thick stick drive mechanism 108---counter weight device
201---backboard 202---crotch
203---big arm 204---big frame
205---middle frame 206---small frame
X is to guide rail for 207---counter weight devices 208---
209, Y is to guide rail for 211---rolling mechanisms 210---
The big armed lever of 212---Z is to guide rails 213---
214,407,410---drive mechanism 301---Z is to T type screw frid
X is to the base front end-plate for 302---Y is to T type screw frids 303---
Z is to moving base of the rail plate for 304---moving base of the rail plates 305---
Y is to mechanism in 310---Z is to mechanisms 320---
330---X is to structure 401---connecting plate
402---wrist attitude mechanisms 403---finger clamp mechanism
The middle armed lever of 404---back armed levers 405---
406---preceding armed lever 408---snap close
409---finger bracket 411---support part
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done to describe in further detail.
Fig. 1 shows the population structure that the present invention is used for the mechanical arm of microsurgery robot and comprises the mechanical arm that is used for microsurgery robot; being used to of comprising that an end is connected with bracket component 1 realized in the rectangular coordinate system three directions big arm member 2 of Primary Location on a large scale; the other end of described big arm member 2 is provided with the accurate location that is used to realize three directions in the rectangular coordinate system; to guarantee that the robot finger realizes minute movement in specified working range; the fine-tuning mechanism 3 that reaches resetting be connected with fine-tuning mechanism 3 be used for the clamping robot finger, and realize the forearm parts 4 that finger both direction attitude is adjusted.
Fig. 2 shows described bracket component 1 and comprises the cylinder 102 that links to each other with base 101, cylinder 102 tops are provided with governor motion 103, described governor motion 103 adopts guide rail and lead screw transmission structure 107, and the below of the base 101 in the described bracket component 1 is provided with castor 105; Governor motion 103 in the described bracket component 1 comprises the handwheel 106 that is positioned at cylinder 101 tops, with handwheel 106 lead-screw drive mechanism 107 that drives and the slide plate 104 that is positioned on the governor motion 103; Bracket component 1 is similar to people's trunk in the robot device, plays to support the human arm that is equivalent to that front end stretches out, and the effect of promptly big arm member 2, during use, described bracket component 1 is placed on the side of operation sick bed, is used for the basic fixed position of mechanical arm of the present invention; Base 101 usefulness square head screws are fastening, and castor 105 is fixed by bolts on the base 101, and counter weight device 108 is fixed by bolts on the base 101, and cylinder 102 is fixed by bolts on the base 101.When mobile, promote cylinder 102, rely on castor 105 to roll, the fastening good square head screw in back, location.
One side of cylinder 102 is equipped with the quiet rail of the guide rail that is screwed, and the moving rail of guide rail is screwed on slide plate 104, protective cover 109 can also be set be screwed on slide plate 104.Top chock and step are fixed by bolts to respectively on the cylinder 102, and parts of bearings is fixed on the bearing block, have back-up ring, bearing cap to be fixed by bolts on the top chock outward, and the leading screw in the lead-screw drive mechanism 107 is contained on the bearing; In addition, transmission nut and leading screw are lined with adjusting pad and are screwed on slide plate 104 with being threaded, and handwheel 106 usefulness flat keys are fixed on the leading screw, and external nut and spring washer are fixed on the upper end of leading screw.During motion, rotate handwheel 106, then can rely on the screw thread transmission to realize moving up and down of slide plate 104, thereby adjust the initial position that originally is positioned at mechanical arm front end finger of the present invention with hands.
Fig. 3-1 and Fig. 3-2 shows described in the mechanical arm of the present invention big arm member 2 and is made of the big arms 203 of the complete symmetrical structure of two covers, one end of described two big arms 203 relies on backboard 201 to be installed on the bracket component 1, be similar to human body about two arms, described big arm member 2 comprises the crotch 202 of Y-shaped, the one end is provided with the backboard 201 that is connected with governor motion 103 on the bracket component 1, in addition, the two ends of crotch 202 forks are respectively arranged with the big arm 203 of symmetrical configuration, and the other end of each big arm 203 is connected with fine-tuning mechanism 3 and forearm parts 4 respectively.Be elaborated at a big arm configuration in the big arm member 2 below, another set of big arm configuration is omitted.
Described big arm 203 is formed by 3 frameworks 204,205 and 206 overlap joints, and three frameworks are used to realize the coarse adjustment campaign of three directions, and scope can be controlled in 200 * 200 * 200mm
3The fixed-site of each framework is, wherein, described big frame 204 is fixed on the slide plate 104 of bracket component 1, one end of described middle frame 205 supports to guide rail 208 with connecting plate 215 and coarse adjustment X, and the rolling mechanism 209 that the other end is formed with suspension bracket 216, bearing 217, little axle, spacer, parts of bearings supports; Underframe one end of described small frame 206 supports to guide rail 210 with coarse adjustment Y, the rolling mechanism 211 that the other end is formed with suspension bracket 218, bearing 219, little axle, spacer, parts of bearings supports, described small frame 206 is screwed on the small frame underframe, and big armed lever 213 usefulness Z are fixed on the small frame 206 to guide rail 212 to guide rail base 220 and coarse adjustment Z.
Described big arm 203 relies on above-mentioned large, medium and small three tower structures 204,205 and 206 to realize the coarse adjustment campaign of X, Y, three directions of Z respectively; What the transmission between described three frameworks was adopted is a drive mechanism 214, promptly, the motion of X, Y, three directions of Z realizes all finishing by motor-driven silk drive mechanism, the transmission of motor is identical, during motion, and the motor-driven pinion, pinion drives gear wheel, gear wheel drives the rope silk around thereon, and the rope silk is in the guiding underdrive of rope sheave, thereby finishes the coarse adjustment campaign of three directions.In the actuating device of these three directions, motor, gear wheel, pinion, rope sheave are identical, different with by the determined installing plate in installation site of different only is installation site; In addition, in the small frame formula structure 206 of coarse adjustment campaign, also comprise counter weight device 207 being used for finishing Z.Specify as follows:
X is away from a side of bracket component 1, to have by two bearings, three rope sheaves and a transmission gear for electric motor to constitute X to actuating device on big frame 204 to the realization of coarse adjustment campaign; The outside at big frame 204 is fixed with transmission gear for electric motor, props up seat board, motor, pinion, gear wheel, bearing cap, little axle, spacer and parts of bearings by motor and forms; Middle by first actuating device of being made up of base plate, rope sheave, bearing, spacer, little axle, bearing cap and platter, described first actuating device is by the transmission of rope sheave guiding; In addition, by two identical second actuating devices of being made up of platter, rope sheave, bearing, spacer, little axle and bearing cap, described second actuating device is by the rope sheave transmission of leading in the front side of big frame 204.Be fixed with two bearings in the bottom side, middle part of middle frame 205, be used for fixing steel wire rope head, the middle part of steel wire rope connects with stretcher.During motion, motor rotating drive pinion, pinion drives gear wheel, and gear wheel drives steel wire rope, and rope belt disorder of internal organs framework realizes that under the support of guide rail and roller X is to the coarse adjustment campaign.
Y to the realization of coarse adjustment campaign is, and is similar with said structure, in the outside of big frame 204, and on the middle frame 205, the Y that is made of two bearings, three rope sheaves and transmission gear for electric motor arranged to drive mechanism; In the inboard of middle frame 205, promptly, be fixed with transmission gear for electric motor near a side of bracket component 1, prop up seat board, motor, pinion, gear wheel, bearing cap, little axle, spacer and bearing by motor and form; In the side away from bracket component 1, by the 3rd actuating device of being made up of base plate, rope sheave, bearing, spacer, little axle, bearing cap and platter, described the 3rd actuating device is by the transmission of rope sheave guiding; By two identical the 4th actuating devices of being made up of platter, rope sheave, bearing, spacer, little axle and bearing cap, described the 4th actuating device also is by the rope sheave transmission of leading in the outside of middle frame 205; Be fixed with two bearings in the bottom side, middle part of middle frame 205, be used for fixing steel wire rope head, the middle part of steel wire rope connects with stretcher.During motion, motor rotating drive pinion, pinion drives gear wheel, and gear wheel drives steel wire rope, and steel wire rope drives the small frame base and realizes that under the support of guide rail and roller Y is to the coarse adjustment campaign.
Realize that Z is different to the structure of the small frame 206 of coarse adjustment campaign, on small frame 206, motor be housed and prop up seat board that the side that motor props up seat board is fixed with the counter weight device of being made up of balancing weight, cover and snap close 207; Opposite side is fixed with the steel wire rope fixed mechanism, is fixed on the top of big armed lever 213.Steel wire loop is walked around gear wheel, and by rope sheave guiding, a termination counter weight device 207, the big armed lever 213 of another termination.
As shown in Figure 1, the big arm member 2 described in the mechanical arm of the present invention, fine-tuning mechanism 3, forearm parts 4 and be installed in finger mechanism assembling back and counter weight device 207 balances on the little arm member.During motion, the step motor drive pinion, pinion drives gear wheel, and gear wheel drives steel wire rope, and steel wire rope drives big armed lever 213 and realizes that Z is to the coarse adjustment campaign.
In addition, on big armed lever 213, by the two mantle fiber drive mechanisms of forming by bearing, nut seat, bolt, motor, motor mounting plate, wire rope pulley, platter and steel wire loop 214.Described two mantle fiber drive mechanisms 214 are identical, are used to control the adjustment of the wrist attitude mechanism 402 of forearm parts 4, shown in Fig. 3-1, Fig. 3-2, Fig. 5-1 and Fig. 5-2.During motion, two groups of wire rope pulleys of motor rotating drive, one group is wire rope pulley 231 on the big arm member 2 and the wire rope pulley 412 on the little arm member, another group is wire rope pulley 231 on the big arm member and the wire rope pulley 413 on the forearm parts 4, steel wire rope is under the drive of wire rope pulley, under the guiding of steel wire loop 232, self-loopa drives finger and rotates, and realizes being positioned at the attitude adjustment of the both direction of wrist attitude mechanism 402 on the forearm parts 4.
As Fig. 1, Fig. 2, Fig. 3-1, Fig. 3-2, shown in Figure 4, big arm 213 in the above-mentioned big arm member 2 is connected with the T type screw frid 302 of Y on base in the described fine-tuning mechanism 3, and the big frame 204 in the described big arm member 2 is connected with the slide plate 104 in the bracket component 1; In order to guarantee the strength and stiffness of big arm member 2, the crotch 202 of Y-shaped is to be welded to connect with described backboard 201 in the described big arm member 2; The connection of X, the Y described in the described fine-tuning mechanism 3, Z all directions mechanism is all adopted and is threaded.
The side that Fig. 1 shows the fine-tuning mechanism 3 in the mechanical arm of the present invention connects forearm parts 4, and the upper end connects big arm member 2, is used for realizing the accurate adjustment campaign of X, Y, three directions of Z.Wherein, be used to realize that the structure of X, Y, three direction motions of Z is similar.As shown in Figure 4, suppose that what link to each other with forearm parts 4 is that Z is to mechanism 310, what link to each other with big arm member 2 is that Y is to mechanism 320, remaining mid portion be X to structure 330, then X, Y to structure be identical, Z is to some parts difference on the size being arranged with X, Y.
Fig. 4 show above-mentioned fine-tuning mechanism 3 comprise rely on Z that Z links to each other with from forearm parts 4 to T type screw frid 301 to mechanism 310, rely on Y that Y links to each other with from big arm member 2 to T type screw frid 302 to mechanism 320 be positioned at fine-tuning mechanism 3 middle parts and rely on X to link to each other to mechanism 310 with Z to base front end-plate 303, dependence is moved X that base of the rail plate 304 and Y link to each other to mechanism 320 to mechanism 330; The X of described fine-tuning mechanism 3, Y, Z three direction micro-adjusting mechanisms adopt the motor-driven leading screw respectively, and rely on the screw thread transmission to be converted to rectilinear motion rotatablely moving, thereby realize the micro-displacement of X, Y, Z three directions.
Below the Z in the fine-tuning mechanism in the mechanical arm of the present invention 3 is described in further detail to structure:
T type screw frid 301 usefulness T type screws in the described fine-tuning mechanism 3, nuts and washers connect together with the connecting plate 401 of the rear end of forearm parts 4.In addition, described T type screw frid 301 usefulness screws are connected to moving base of the rail plate 305 with Z, and described Z is connected with the moving rail of line slideway to moving base of the rail plate 305 usefulness screws, and the quiet rail of line slideway is installed on the base with screw.The nut seat board is installed in Z on moving base of the rail plate 305 with screw, is fixed on the transmission nut with holding screw.Disappear crack nut and transmission nut with being threaded, and screw is housed on the crack nut that disappears is resisted against nut seat board location, play the crack effect that disappears, transmission nut is installed on the turn-screw 306.The base front end-plate is installed in the side of base with screw, and leading screw 306 usefulness bearing bracket stands are on the base front end-plate, and outer bearing cover screw and the packing ring of bearing is installed on the base front end-plate, and leading screw 306 usefulness nuts and spring washer are fixed on outside the bearing cap.Be provided with shaft coupling 307 and shaft coupling slide block 308 between the output shaft of motor and the leading screw 306, the other end that is leading screw 306 links to each other with an end of shaft coupling slide block 308 with shaft coupling 307, and shaft joint 307 usefulness flush end holding screws are fastening with the projecting shaft of leading screw 306 and motor respectively.Base connects the motor end plate and is installed in the another side of base with screw, and motor is installed in base with screw and connects on the motor end plate.During motion, motor-driven leading screw 306 relies on the screw thread transmission to be converted to rectilinear motion rotatablely moving, realize Z in the fine-tuning mechanism 3 to micro-displacement.
About X in the fine-tuning mechanism 3 to Y to accurate adjustment, its structure and above-mentioned Z to structure basic identical, difference on the size is just arranged, that is: moving base of the rail plate 304 and the screw of being with, turn-screw, base and the screw of being with, base front end-plate and line slideway in following several parts.In addition, X links to each other to the base of mechanism 310 with Z to base front end-plate 303 to the 330 usefulness X of mechanism, links to each other to the base of mechanism 320 with Y with moving base of the rail plate 304, and Y is connected to the big arm 213 of mechanism's 320 usefulness T type screw frids 302 with big arm member 2.
Fig. 5-1 and Fig. 5-2 show forearm parts 4 described in the mechanical arm of the present invention and comprise and be positioned at rear end and the connecting plate 401 that links to each other with above-mentioned fine-tuning mechanism 3, wrist attitude mechanism 402 that is positioned at front end and the finger clamp mechanism 403 that links to each other with wrist attitude mechanism 402; That described connecting plate 401 connects successively is back, in, preceding armed lever 404,405 and 406, described back, in two sections armed levers 404 and 405, and in, adopt the type of attachment of screw, spring washer and nut between preceding two sections armed levers 405 and 406; Welding is adopted in connection between the back armed lever 404 that described connecting plate 401 connects successively, described wrist attitude mechanism 405 adopts the silk drive mechanism of being made up of steel wire loop, rope sling support and rope sheave respectively 407 and 410, described silk drive mechanism 407 with 410 with above-mentioned big armed lever 213 on motor wire rope pulley outward link to each other with steel wire loop; Described finger clamp mechanism 403 comprises and is used for the snap close 408, finger bracket 409 and the support part 411 that links to each other with above-mentioned wrist attitude mechanism 402 of clamping device finger.
Snap close 408 usefulness screw and nuts are clamped in finger on the clamp mechanism 403, and the reuse screw is fixed on itself snap close 408 on the finger bracket 409, and finger bearing is not rotatable, and armrest refers to that itself realizes rotation.
Outer shroud is fixed with bearing block above finger bracket 409, in have in the middle of two bearings with long spacer spacer sleeves support part 411 spool on, bearing has bearing cap to be screwed on bearing block outward, wire rope pulley 413 usefulness flush end holding screws are enclosed within on the axle of support part 411, spaced apart with short spacer and bearing, the upper end is fastening with spring washer and nut.During transmission, steel wire is walked around wire rope pulley 413, passes the steel wire loop support, walk around outer wire rope pulley 231 and the steel wire loop 232 of motor on the big arm member 2, have circulation of one's own, under the driving of motor, realize the rotation of finger the 3rd direction in coordinate system by the transmission of steel wire.
On the outerplanar of bearing block, armed lever 406 before being screwed, preceding armed lever 406 usefulness screws, spring washer and nut link to each other with middle armed lever 405, and this joint can manually change the attitude of finger, remains unchanged after fixing; Middle armed lever 405 usefulness screws, spring washer and nut link to each other with back armed lever 404, and this joint can manually change the attitude of finger, remain unchanged after fixing.Back armed lever 404 is connected with the T type screw frid 301 of fine-tuning mechanism 3, and this joint can manually change the attitude of whole forearm parts 4, remains unchanged after fixing.
In sum, the mechanical arm that the present invention is used for microsurgery robot belong to medical robot from hands, by bracket component 1, big arm member 2, fine-tuning mechanism 3 and forearm parts 4, rely on guide rail and silk drive mechanism, finally be used for holding finger, by the adjustment of forearm parts 4 self pose and the folding of finger, forearm parts 4 direct holding fingers, thus finish the clamp pointed in the operation and the action of backguy.Main hand control mechanical arm is finished the requirement action of operation.
The function that the present invention is used for the mechanical arm each several part of microsurgery robot is: forearm parts 4 are used for holding finger, realize the attitude adjustment of finger both direction, and the 3rd attitude finished by the finger rotation; Fine-tuning mechanism 3 is used to realize the accurate location of three directions in the rectangular coordinate system, guarantees that finger is at specified working range 20 * 20 * 20mm
3The interior minute movement that realizes reaches repetitive positioning accuracy 10 μ m; Big arm member 3 is used to realize three large-scale Primary Location of direction in the rectangular coordinate system, and scope is 200 * 200 * 200mm
3, guarantee to point in the zone that can move quickly into working range; Bracket component 1 is used to support above-mentioned three parts and finger, and they are in the rational work space.After above-mentioned four part assemblings, the chatter amplitude that can guarantee finger fingertip is in the scope of 10 μ m.
The work process of mechanical arm that the present invention is used for microsurgery robot is as follows:
In the preparatory stage of operation: at first, rely on the rolling of the castor 105 on the bracket component 1, promote mechanical arm and be placed in operating-table appropriate position on every side, and support, increase the rigidity of mechanical arm with bolting, and with faulty action preventing.Then, the handwheel 106 on the swinging mounting parts 1 moves up and down along the Z on the bracket component 2 the big arm member 2 of mechanical arm to guide rail, regulates the residing home position of mechanical arm fore-end, makes it near work space.At last, the attitude of manual adjustments finger, the basic attitude that makes finger is near operating attitude.During adjustment, can regulate T type screw frid 302 junctions of big armed lever 213 with the fine-tuning mechanism 3 of big arm member 2, this moment, fine-tuning mechanism 3 can rotate in horizontal plane, and it is fastening to adjust the back; Regulate connecting plate 401 junctions, back armed lever place of T type screw frid 301 with the forearm parts 4 of fine-tuning mechanism 3, rotate in the passable vertical plane of forearm parts 4 this moment, it is fastening to adjust the back; Armed lever and armed lever junction, back in the adjusting, this moment, finger can rotate in horizontal plane, and it is fastening to adjust the back; Armed lever and middle armed lever junction before regulating, this moment, finger can rotate in horizontal plane, and it is fastening to adjust the back.
In the incipient stage of operation: at first, the motor by three coarse adjustment directions on the big arm of main hand control moves in the working range finger rapidly.Secondly, by the motor of three accurate adjustment directions on the main hand control fine-tuning mechanism, make the finger tip of finger arrive the operation point.At last, adjust motor, adjust the attitude of finger by two attitudes on the big arm of main hand control.
The mechanical arm that the present invention is used for microsurgery robot is to finish rotatablely moving of both direction by the motor-driven tinsel, combine the advantage of motor transmission and silk transmission, control is simple, and reliable in action can effectively suppress trembling of staff in the operating process.The present invention is used for the space of the mechanical arm of microsurgery robot and arranges except that the space segment that guarantees patient's needs, and the maximum operational movement of doctor space also is provided; In addition, the silk transmission is adopted in the driving of wrist attitude mechanism, has reduced the load of space manipulator, and therefore reduces the size and the weight of mechanical arm; Also have the design that wrist adopts three axis congruences to hand over, the compensation dosage of minimizing pose when attitude is adjusted.
Although invention has been described in conjunction with the accompanying drawings above; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; rather than it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not breaking away under the scope situation that aim of the present invention and claim protects, can also make a lot of distortion, these all belong within the protection of the present invention.
Claims (7)
1. mechanical arm that is used for microsurgery robot, it is characterized in that, being used to of comprising that an end is connected with bracket component (1) realized in the rectangular coordinate system three directions big arm member (2) of Primary Location on a large scale, the other end of described big arm member (2) is provided with the accurate location that is used to realize three directions in the rectangular coordinate system, to guarantee that the robot finger realizes minute movement in specified working range, the fine-tuning mechanism (3) that reaches resetting be connected with fine-tuning mechanism (3) be used for the clamping robot finger, and realize the little arm member (4) that finger both direction attitude is adjusted;
Described bracket component (1) comprises the cylinder (102) that links to each other with base (101), and cylinder (102) top is provided with governor motion (103), and described governor motion (103) adopts guide rail and lead screw transmission structure;
Described big arm member (2) comprises the crotch (202) of Y-shaped, the one end is provided with the backboard (201) that is connected with governor motion (103) on the bracket component (1), Cha Kai two ends are respectively arranged with the big arm (203) of symmetrical configuration in addition, and described big arm (203) comprises the coarse adjustment campaign that is realized X, Y, three directions of Z by large, medium and small three tower structures (204,205 and 206) respectively; Described big frame (204) is fixed on the governor motion (103) on the bracket component (1), described middle frame (205) relies on X to be connected with big frame (204) with rolling mechanism (209) to guide rail (208), being fixed on the small frame underframe of described small frame (206), the underframe of described small frame relies on Y to be supported on the described middle frame (205) to guide rail (210) and rolling mechanism (211), described big armed lever (213) upper end relies on Z to be connected with small frame (206) to guide rail (212), and described big armed lever (213) lower end is connected with described fine-tuning mechanism (3); Described large, medium and small three tower structures (204,205 and 206) coupling part successively comprise installing plate, guide rail, slide plate, bearing, suspension bracket and silk drive mechanism (214) respectively; Described small frame (206) comprises installing plate, guide rail, silk transmission and balance weight mechanism (207) with the coupling part of big armed lever (213); The motion of described X, Y, three directions of Z relies on motor-driven silk drive mechanism to finish respectively, described silk drive mechanism comprises the gear reduction that is connected with described motor, be wrapped on the gear reduction outfan thread, be used for the rope sheave and the stretcher of a guide effect;
Described fine-tuning mechanism (3) comprise rely on Z that Z links to each other with from little arm member (4) to T type screw frid (301) to mechanism (310), rely on Y that Y links to each other with from arm member (2) greatly to T type screw frid (302) to mechanism (320) be positioned at fine-tuning mechanism (3) middle part and rely on X to link to each other to mechanism (310) with Z to base front end-plate (303), dependence is moved X that base of the rail plate (304) and Y link to each other to mechanism (320) to mechanism (330); X, the Y of described fine-tuning mechanism (3), Z three direction micro-adjusting mechanisms adopt the motor-driven leading screw respectively, and rely on the screw thread transmission to be converted to rectilinear motion rotatablely moving, thereby realize the micro-displacement of X, Y, Z three directions;
Described little arm member (4) comprises and is positioned at rear end and the connecting plate (401) that links to each other with above-mentioned fine-tuning mechanism (3), wrist attitude mechanism (402) that is positioned at front end and the finger clamp mechanism (403) that links to each other with wrist attitude mechanism (402); That described connecting plate (401) connects successively is back, in, preceding armed lever (404,405 and 406), described back, in two sections armed levers (404 and 405), and in, adopt the joint type of attachment of screw, spring washer and nut between preceding two sections armed levers (405 and 406), described joint can manually change the attitude of whole little arm, remains unchanged after fixing; Described wrist attitude mechanism (402) adopts the silk drive mechanism of being made up of steel wire loop, rope sling support and rope sheave respectively (407 and 410), outer wire rope pulley and the steel wire loop of motor on described silk drive mechanism (407 and 410) and the described big armed lever (213) has circulation of one's own, under the driving of motor, realize the rotation of finger both direction in coordinate system by the transmission of steel wire; Described finger clamp mechanism (403) comprises and is used for snap close (408), finger bracket (409) and the support part (411) that links to each other with above-mentioned wrist attitude mechanism (402) of clamping device finger.
2. a kind of mechanical arm that is used for microsurgery robot according to claim 1 is characterized in that, is provided with shaft coupling between the output shaft of motor and the leading screw in the described fine-tuning mechanism (2).
3. a kind of mechanical arm that is used for microsurgery robot according to claim 1 is characterized in that the below of described bracket component (1) base (101) is provided with castor.
4. a kind of mechanical arm that is used for microsurgery robot according to claim 1, it is characterized in that, described bracket component (1) governor motion (103) comprises the handwheel that is positioned at cylinder (102) top, with handwheel lead screw transmission parts that drive and the slide plate (104) that is positioned on the governor motion (103).
5. a kind of mechanical arm that is used for microsurgery robot according to claim 1, it is characterized in that, big arm (213) in the described big arm member (2) is connected with the T type screw frid (302) of Y on base (302) in the described fine-tuning mechanism (3), and the big frame (204) in the described big arm member (2) is connected with slide plate (104) in the bracket component (1).
6. a kind of mechanical arm that is used for microsurgery robot according to claim 1, it is characterized in that, for proof strength and rigidity, the crotch (202) of Y-shaped and described backboard (201) in the described big arm member (2), and be the relation of being welded to connect between back armed lever (404), middle armed lever (405), preceding armed lever (406) and the connecting plate (401).
7. a kind of mechanical arm that is used for microsurgery robot according to claim 1 is characterized in that, the connection of X, the Y described in the described fine-tuning mechanism (3), Z all directions mechanism is all adopted and is threaded.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB031299385A CN1190171C (en) | 2003-05-28 | 2003-05-28 | Mechanical arm used in microsurgery operation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031299385A CN1190171C (en) | 2003-05-28 | 2003-05-28 | Mechanical arm used in microsurgery operation robot |
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| CN1457747A true CN1457747A (en) | 2003-11-26 |
| CN1190171C CN1190171C (en) | 2005-02-23 |
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| CNB031299385A Expired - Fee Related CN1190171C (en) | 2003-05-28 | 2003-05-28 | Mechanical arm used in microsurgery operation robot |
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| CN (1) | CN1190171C (en) |
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