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CN102973317A - Arrangement structure for mechanical arm of minimally invasive surgery robot - Google Patents

Arrangement structure for mechanical arm of minimally invasive surgery robot Download PDF

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Publication number
CN102973317A
CN102973317A CN2011102597282A CN201110259728A CN102973317A CN 102973317 A CN102973317 A CN 102973317A CN 2011102597282 A CN2011102597282 A CN 2011102597282A CN 201110259728 A CN201110259728 A CN 201110259728A CN 102973317 A CN102973317 A CN 102973317A
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arm
active
active operation
arms
master
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周宁新
王树新
李建民
陈军周
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Abstract

An arrangement structure for a mechanical arm of a minimally invasive surgery robot comprises a main operation end part, an auxiliary operation end part, a driven adjusting arm and a driving operation arm combination. The main operation end part and the auxiliary operation end part are connected in a front and back mode through a vertical column to form a whole, and a sliding block vertically sliding is arranged on the front end face of the vertical column. The driven adjusting arm comprises a first connection rod and a second connection rod, the driving operation arm combination comprises a driving arm support platform, at least three driving arm seats and at least three driving operation arms, and at least three same driving arms are respectively in rotating connection with at least three driving arm seats. The arrangement structure for the mechanical arm of the minimally invasive surgery robot has the advantages that a main operation end is integrated with a driven operating end to enable the robot to be conveniently shifted, the arrangement structure for the mechanical arm of the minimally invasive surgery robot achieves support and adjustment of a plurality of driving operation arms, reduces total volume of the robot, and improves utilization rate of a space in a surgery room, and the arrangement structure for the mechanical arm of the minimally invasive surgery robot not only saves the space of the surgery room, but also has the advantage of being capable of fast moving, and does not need a special surgery room.

Description

Micro-wound operation robot mechanical arm arrangements structure
Technical field
The present invention relates to micro-wound surgical operation armarium technical field, it assists the doctor to implement the Minimally Invasive Surgery operation, is a kind of micro-wound operation robot mechanical arm arrangements structure.
Background technology
Minimally invasive surgery take peritoneoscope as representative is described as 20th century medical sciencies to one of significant contribution of human civilization, and in the Minimally Invasive Surgery operating process, the doctor utilizes the miniature incision of elongated operation tool by human body surface to be insinuated into to carry out operation technique in the body.It is compared with traditional open surgery has the advantages such as operative incision is little, amount of bleeding is few, scar after the operation is little, recovery time is fast, this so that the misery that patient suffers greatly reduce; Therefore minimally invasive surgery is widely used in clinical operation.Yet, when Minimally Invasive Surgery has brought many interests for patient, but doctor's operation brought a series of difficulties, as: 1) owing to the restriction of body surface aperture, the degree of freedom of instrument is reduced to four, and motility reduces greatly; 2) doctor's direction of operating and desired opposite direction, inaccurate coordination; 3) doctor can only obtain surgical scene information by the two dimensional image on the monitor, lacks the sensation on the depth direction; 4) shake of doctor's hand may be amplified by elongated operation tool, and operation is caused harmful effect; 5) lack force feeling.Therefore, the doctor must have been trained for a long time and can carry out the Minimally Invasive Surgery operation, and even so, Minimally Invasive Surgery also only is applied among the relatively simple operation process of operation at present.Therefore, in the Minimally Invasive Surgery field, extend doctor's ability in the urgent need to a kind of robot system, in order to overcome above-mentioned shortcoming, make the doctor can easierly finish the Minimally Invasive Surgery operation.At present, the minimally invasive surgical operation robot system that can use clinically only has Da Vinci system and Zeus system, but they have the shortcoming of the aspect such as bulky, expensive.All in succession carried out in the world the research of minimally invasive surgical operation robot such as the U.S., France, Germany, Britain, Poland, Japan, Korea S and other places, and a series of model machines have been produced, but these model machines are mostly identical with the mechanism that has existed or similar, lack novelty.China still is in the starting stage aspect robotic assisted surgery, the robot system that has existed can only play auxiliary positioning in operation process, can not be applied to clinical operation.Therefore develop the novel minimally invasive surgical operation robot system that a cover has independent intellectual property right and to filling up the blank of China in this field very important meaning is arranged.
Summary of the invention
The purpose of this invention is to provide a kind of micro-wound operation robot mechanical arm arrangements structure, it can overcome existing commercialization minimally invasive robot system mechanics arm and arrange the shortcoming large, that adjust complexity that takes up room.
For achieving the above object, the present invention takes following two technical schemes:
First technical scheme:
A kind of micro-wound operation robot mechanical arm arrangements structure is characterized in that: it includes main operation end parts (1), makes up (22) from operating side part (2), passive adjustment arm (21), active operation arm;
Described main operation end parts be connected the operating side part and become one by connecting before and after the column (3), be provided with the slide block (31) that slides up and down at the front end face of this column;
Described passive adjustment arm 21 comprises first connecting rod (211), second connecting rod (212), one end of this first connecting rod (211) is installed on the described slide block (31) rotatably by the first rotary joint (2111) perpendicular to the ground, one end of second connecting rod (212) links to each other with the other end rotation of first connecting rod (211) by the second rotary joint (2112) perpendicular to the ground, and the other end of this second connecting rod (212) is rotatedly connected by the 3rd rotary joint (2113) perpendicular to the ground master arm brace table (220) with active operation arm combination (22);
Described the first rotary joint (2111), the second rotary joint (2112), the 3rd rotary joint (2113) inside all are equipped with band-type brake;
Described active operation arm combination (22) comprises master arm brace table (220), at least three initiatively arm seat (221), at least three active operation arms (222); These at least three active arm seats (221) evenly distribute by at least three the 4th rotary joints (2114) perpendicular to the ground respectively and are rotatably mounted on the master arm brace table (220), and these at least three identical master arms (222) are rotatably connected with at least three active arm seats (221) respectively;
Described the 3rd rotary joint (2113) is located at master arm brace table (220) one middle side parts, and described the 4th rotary joint (2114) is located at master arm brace table (220) opposite side.
Above-mentioned at least three active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and the active operation arm clamping endoscope (224) in the middle of being positioned at.
In an embodiment of the present invention, described active operation arm combination (22) comprises four initiatively arm seat (221), four active operation arms (222); These four active arm seats (221) evenly distribute by four the 4th rotary joints (2114) perpendicular to the ground respectively and are rotatably mounted on the master arm brace table (220), and these four identical master arms (222) are rotatably connected with four active arm seats (221) respectively.
Above-mentioned four active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and the active operation arm clamping endoscope (224) in the middle of being positioned at.
In an embodiment of the present invention, described active operation arm combination (22) comprises five initiatively arm seat (221), five active operation arms (222); These five active arm seats (221) evenly distribute by five the 4th rotary joints perpendicular to the ground respectively and are rotatably mounted on the master arm brace table (220), and these five identical master arms (222) are rotatably connected with five active arm seats (221) respectively.
Above-mentioned five active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and the active operation arm clamping endoscope (224) in the middle of being positioned at.
Second technical scheme:
A kind of micro-wound operation robot mechanical arm arrangements structure is characterized in that: it includes main operation end parts (1), makes up (22) from operating side part (2), passive adjustment arm (21), active operation arm;
Described main operation end parts be connected the operating side part and become one by connecting before and after the column (3), be provided with the slide block (31) that slides up and down at the front end face of this column;
Described passive adjustment arm (21) includes first connecting rod (211), one end of this first connecting rod (211) is installed on the described slide block (31) rotatably by the first rotary joint (2111) perpendicular to the ground, and the other end of this first connecting rod (211) is rotatedly connected by the 3rd rotary joint (2113) perpendicular to the ground master arm brace table (220) with active operation arm combination (22);
Described the first rotary joint (2111), the 3rd rotary joint (2113) inside all are equipped with band-type brake;
Described active operation arm combination (22) comprises master arm brace table (220), at least three initiatively arm seat (221), at least three active operation arms (222); These at least three active arm seats (221) evenly distribute by at least three the 4th rotary joints (2114) perpendicular to the ground respectively and are rotatably mounted on the master arm brace table (220), and these at least three identical master arms (222) are rotatably connected with at least three active arm seats (221) respectively;
Described the 3rd rotary joint (2113) is located at master arm brace table (220) one middle side parts, and described the 4th rotary joint (2114) is located at master arm brace table (220) opposite side.
Described at least three active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and the active operation arm clamping endoscope (224) in the middle of being positioned at.
In embodiments of the present invention, described active operation arm combination (22) comprises four initiatively arm seat (221), four active operation arms (222); These four active arm seats (221) evenly distribute by four the 4th rotary joints (2114) perpendicular to the ground respectively and are rotatably mounted on the master arm brace table (220), and these four identical master arms (222) are rotatably connected with four active arm seats (221) respectively; Described four active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and the active operation arm clamping endoscope (224) in the middle of being positioned at.
In embodiments of the present invention, described active operation arm combination (22) comprises five initiatively arm seat (221), five active operation arms (222); These five active arm seats (221) evenly distribute by five the 4th rotary joints perpendicular to the ground respectively and are rotatably mounted on the master arm brace table (220), and these five identical master arms (222) are rotatably connected with five active arm seats (221) respectively; Described five active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and the active operation arm clamping endoscope (224) in the middle of being positioned at.
The difference of above-mentioned the second technical scheme and the first technical scheme is that first connecting rod (211) is only arranged, and does not have second connecting rod (212).So further simplified structure reduces usage space, to satisfy instructions for use.
The present invention compared with prior art has following beneficial effect:
The present invention with the main operation end of robot with become one from the operating side, robot shifted become convenient, and reduced the quantity of machinery, electric interfaces;
2. the present invention realizes support and adjustment to a plurality of active operation arms by single column, single passive mechanical arm, has reduced the overall volume of robot, has improved the utilization rate of the operation interior space;
3. the present invention compares with the existing scheme that mechanical arm is fixed on operating room ceiling or the operation table, has not only saved the space of operating room, but has also had the advantage of fast moving, does not need special operating room.
Description of drawings
Fig. 1 is main assembly sketch map of the present invention;
Fig. 2 is schematic top plan view of the present invention;
Fig. 3 is the composition sketch map of main operation end of the present invention;
Fig. 4 is the composition sketch map of active operation arm combination of the present invention;
Fig. 5-the 1st, sketch map when active operation arm of the present invention is combined as four active operation arms;
Fig. 5-the 2nd, sketch map when active operation arm of the present invention is combined as five active operation arms;
Fig. 5-the 3rd, the sketch map of the passive adjustment arm of the second technical scheme of the present invention;
Fig. 6 is opportunity of operation device people occupation mode sketch map of the present invention when being positioned over patient's one side;
Fig. 7 is opportunity of operation device people occupation mode sketch map of the present invention when being positioned over patient's side;
Drawing reference numeral wherein:
1-main operation end parts; 2-is from the operating side part; The 3-column; 4-doctor; Patient 5-;
The 10-monitor; The 11-main manipulator; The 12-arm support; The 13-foot switch; The 14-control chamber;
The 15-master operating station;
The passive adjustment arm of 21-; The combination of 22-active operation arm; The 211-first connecting rod; The 212-second connecting rod;
220-master arm brace table; 221-is arm seat initiatively; 222-active operation arm; The 223-operation tool;
224-endoscope;
2111-the first rotary joint; 2112-the second rotary joint; 2113-the 3rd rotary joint;
2114-the 4th rotary joint;
The 31-slide block;
The specific embodiment
Below in conjunction with the specific embodiment micro-wound operation robot mechanical arm arrangements mode of the present invention is made a detailed description.
Fig. 1, Fig. 2 are the general illustration of the novel minimally invasive robot mechanical arm arrangements of the present invention mode.By column 3, be installed on the main operation end parts 1 on the described column 3 and form from operating side part 2.
The composition signal of main operation end parts 1 as shown in Figure 3, it provides surgical platform for the doctor, main operation end parts 1 comprises the master operating station 15 that is fixedly installed in column 3 back sides, is installed on the monitor 10 of master operating station 15 tops and is installed on two of master operating station 15 front portions to overlap main manipulators 11.The surgical scene information of the patient body inside that operative doctor can provide according to described monitor 10 operates main manipulator 11, realizes the control from operating side part 2.Described main manipulator 11 can adopt the granted patent (patent No.: 200910305576.8 or the patent No.: structure 200810154364.X).On master operating station 15, also be designed with arm support 12, in the operation, when the doctor operates main manipulator 11, forearm placed on the described arm support 12, can effectively reduce fatigue that operation causes.In addition, also be provided with a plurality of foot switchs 13 in the bottom of master operating station 15, can be used to robot is carried out different setting (as starting, stop etc.).
Illustrate such as Fig. 2, shown in Figure 4 from the composition of operating side part 2.Comprise by leading screw-guide rail structure from operating side part 2 being installed on slide block 31 on the column 3, slide block 31 can move up and down at column 3 along described leading screw-guide rail structure under motor-driven.One end of first connecting rod 211 is installed on the described slide block 31 rotatably by the first rotary joint 2111 perpendicular to the ground, one end of second connecting rod 212 links to each other with the other end rotation of first connecting rod 211 by the second rotary joint 2112 perpendicular to the ground, and the other end of second connecting rod 212 is rotatedly connected by the 3rd rotary joint 2113 perpendicular to the ground and active operation arm combination 22.Described slide block 31, first connecting rod 211, second connecting rod 212 and the first rotary joint 2111, the second rotary joint 2112, the 3rd rotary joint 2113 have consisted of passive adjustment arm 21 of the present invention.Described the first rotary joint 2111, the second rotary joint 2112, the 3rd rotary joint 2113 inside all are equipped with band-type brake, can not relatively rotate without dynamic excitation the time so that consist of two parts of rotary joint; When the doctor need to adjust passive adjustment arm 21, it was electric each band-type brake to be got by dynamic excitation, and then can relatively rotate between each rotary joint, realized the manual adjustment to passive adjustment arm 21.The pose that act as before operation active operation arm combination 22 of passive adjustment arm 21 carries out rapid adjustment, and each joint is locked in the operation process, does not participate in operation technique.Passive adjustment arm 21 of the present invention only is comprised of a mechanical arm, and is different from the scheme of a plurality of mechanical arms of employing in the existing technology, can reduce to a great extent the volume of robot, and can improve the efficient of adjusting before the art, and then save the overall time of operation.
Active operation arm combination 22, comprise master arm brace table 220, three initiatively arm seat 221 evenly distribute by three the 4th rotary joints 2114 perpendicular to the ground respectively and be rotatably mounted on the master arm brace table 220, the structure of this rotary joint 2114 is consistent with the same described rotary joint of effect, manually adjust in being used for carrying out among a small circle to three active operation arms 222, when preventing operation process, active behaviour organizes arm 222 and interferes at the volley.Do 221 at three master arms and be separately installed with three identical active operation arms 222, but the active operation arm clamping operation tool 223 that wherein is positioned at both sides carries out operation technique; And the active operation arm in the middle of being positioned at is used for clamping endoscope 224, and to obtain the surgical scene information in the patient body, this information can offer the doctor by described monitor 10.Active operation arm 222 and operation tool 223 are parts of actual participation operation technique, scene information in the patient body that the doctor provides according to monitor 11 operates main manipulator 11, the control system of this operation in being installed on control chamber 14 is converted into the signal of telecommunication, and then control active operation arm 222 and operation tool 223 each IA motor movement, realize the desired operation technique of doctor.Active operation arm 222 can adopt granted patent, and (patent No.: structure 200810152765.1), operation tool 223 can adopt the granted patent (patent No.: structure 200710056701.7); The detailed construction of described control system forms and realizes that principle does not belong to category of the present invention.
According to different type of surgery, the active operation arm of positioning means of the present invention combination 22 can have multiple design form, and Fig. 5-1 shows the embodiment when being integrated on the same master arm brace table 220 by four active operation arms 222; Fig. 5-2 shows the embodiment when being integrated on the same master arm brace table 220 by five active operation arms 222.Certainly, according to the actual operation demand, active operation arm 222 other multiple arrangement can also be arranged.Equally, passive adjustment arm 21 also has multiple design form, and Fig. 5-3 shows the situation that passive adjustment arm only has a first connecting rod to consist of.
Fig. 6, Fig. 7 show the practical application sketch map that utilizes the present invention to carry out auxiliary Minimally Invasive Surgery operation.Operative doctor 4 is sitting in main operation end parts 1 place described main manipulator 11 is operated, and control realizes the operative treatment to patient 5 from active operation arm 222 and operation tool 223 motions of operating side part 2.Fig. 6 is the situation of robot when being arranged in patient's one side, and the situation that Fig. 7 shows robot when being arranged in patient's side.Can find out, utilize arrangement of the present invention, can greatly reduce robot and take the interior space of operating room, can improve the utilization rate of the operation interior space, this also is that the present invention is with respect to sharpest edges of prior art.
More than the present invention and embodiment thereof are described, this description does not have restricted, also one of the embodiments of the present invention just shown in the accompanying drawing, actual structure is not limited to this.So; if those skilled in the art is enlightened by it; in the situation that does not break away from the invention aim; adopt transmission, driving device and the connected mode of other form without creationary design frame mode and the embodiment similar to technical scheme of the present invention, all should belong to protection scope of the present invention.

Claims (10)

1. micro-wound operation robot mechanical arm arrangements structure is characterized in that: it includes main operation end parts (1), from operating side part (2), passive adjustment arm (21), active operation arm combination (22);
Described main operation end parts be connected the operating side part and become one by connecting before and after the column (3), be provided with the slide block (31) that slides up and down at the front end face of this column;
Described passive adjustment arm 21 comprises first connecting rod (211), second connecting rod (212), one end of this first connecting rod (211) is installed on the described slide block (31) rotatably by the first rotary joint (2111) perpendicular to the ground, one end of second connecting rod (212) links to each other with the other end rotation of first connecting rod (211) by the second rotary joint (2112) perpendicular to the ground, and the other end of this second connecting rod (212) is rotatedly connected by the 3rd rotary joint (2113) perpendicular to the ground master arm brace table (220) with active operation arm combination (22);
Described the first rotary joint (2111), the second rotary joint (2112), the 3rd rotary joint (2113) inside all are equipped with band-type brake;
Described active operation arm combination (22) comprises master arm brace table (220), at least three initiatively arm seat (221), at least three active operation arms (222); These at least three active arm seats (221) evenly distribute by at least three the 4th rotary joints (2114) perpendicular to the ground respectively and are rotatably mounted on the master arm brace table (220), and these at least three identical master arms (222) are rotatably connected with at least three active arm seats (221) respectively;
Described the 3rd rotary joint (2113) is located at master arm brace table (220) one middle side parts, and described the 4th rotary joint (2114) is located at master arm brace table (220) opposite side.
2. micro-wound operation robot mechanical arm arrangements structure according to claim 1, it is characterized in that: described at least three active operation arms (222), wherein, be positioned at active operation arm (222) the clamping operation tool (223) of both sides, and the active operation arm clamping endoscope (224) in the middle of being positioned at.
3. micro-wound operation robot mechanical arm arrangements structure according to claim 1 is characterized in that: described active operation arm combination (22) comprises four initiatively arm seats (221), four active operation arms (222); These four active arm seats (221) evenly distribute by four the 4th rotary joints (2114) perpendicular to the ground respectively and are rotatably mounted on the master arm brace table (220), and these four identical master arms (222) are rotatably connected with four active arm seats (221) respectively.
4. micro-wound operation robot mechanical arm arrangements structure according to claim 3, it is characterized in that: described four active operation arms (222), wherein, be positioned at active operation arm (222) the clamping operation tool (223) of both sides, and the active operation arm clamping endoscope (224) in the middle of being positioned at.
5. micro-wound operation robot mechanical arm arrangements structure according to claim 1 is characterized in that: described active operation arm combination (22) comprises five initiatively arm seats (221), five active operation arms (222); These five active arm seats (221) evenly distribute by five the 4th rotary joints perpendicular to the ground respectively and are rotatably mounted on the master arm brace table (220), and these five identical master arms (222) are rotatably connected with five active arm seats (221) respectively.
6. micro-wound operation robot mechanical arm arrangements structure according to claim 5, it is characterized in that: described five active operation arms (222), wherein, be positioned at active operation arm (222) the clamping operation tool (223) of both sides, and the active operation arm clamping endoscope (224) in the middle of being positioned at.
7. micro-wound operation robot mechanical arm arrangements structure is characterized in that: it includes main operation end parts (1), from operating side part (2), passive adjustment arm (21), active operation arm combination (22);
Described main operation end parts be connected the operating side part and become one by connecting before and after the column (3), be provided with the slide block (31) that slides up and down at the front end face of this column;
Described passive adjustment arm (21) includes first connecting rod (211), one end of this first connecting rod (211) is installed on the described slide block (31) rotatably by the first rotary joint (2111) perpendicular to the ground, and the other end of this first connecting rod (211) is rotatedly connected by the 3rd rotary joint (2113) perpendicular to the ground master arm brace table (220) with active operation arm combination (22);
Described the first rotary joint (2111), the 3rd rotary joint (2113) inside all are equipped with band-type brake;
Described active operation arm combination (22) comprises master arm brace table (220), at least three initiatively arm seat (221), at least three active operation arms (222); These at least three active arm seats (221) evenly distribute by at least three the 4th rotary joints (2114) perpendicular to the ground respectively and are rotatably mounted on the master arm brace table (220), and these at least three identical master arms (222) are rotatably connected with at least three active arm seats (221) respectively;
Described the 3rd rotary joint (2112) is located at master arm brace table (220) one middle side parts, and described the 4th rotary joint (2114) is located at master arm brace table (220) opposite side.
8. micro-wound operation robot mechanical arm arrangements structure according to claim 7, it is characterized in that: described at least three active operation arms (222), wherein, be positioned at active operation arm (222) the clamping operation tool (223) of both sides, and the active operation arm clamping endoscope (224) in the middle of being positioned at.
9. micro-wound operation robot mechanical arm arrangements structure according to claim 7 is characterized in that: described active operation arm combination (22) comprises four initiatively arm seats (221), four active operation arms (222); These four active arm seats (221) evenly distribute by four the 4th rotary joints (2114) perpendicular to the ground respectively and are rotatably mounted on the master arm brace table (220), and these four identical master arms (222) are rotatably connected with four active arm seats (221) respectively; Described four active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and the active operation arm clamping endoscope (224) in the middle of being positioned at.
10. micro-wound operation robot mechanical arm arrangements structure according to claim 7 is characterized in that: described active operation arm combination (22) comprises five initiatively arm seats (221), five active operation arms (222); These five active arm seats (221) evenly distribute by five the 4th rotary joints perpendicular to the ground respectively and are rotatably mounted on the master arm brace table (220), and these five identical master arms (222) are rotatably connected with five active arm seats (221) respectively; Described five active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and the active operation arm clamping endoscope (224) in the middle of being positioned at.
CN2011102597282A 2011-09-05 2011-09-05 Arrangement structure for mechanical arm of minimally invasive surgery robot Pending CN102973317A (en)

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Application publication date: 20130320