CN105380749A - Steel wire rope transmission universal mechanism used for surgical driller - Google Patents
Steel wire rope transmission universal mechanism used for surgical driller Download PDFInfo
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- CN105380749A CN105380749A CN201510960537.7A CN201510960537A CN105380749A CN 105380749 A CN105380749 A CN 105380749A CN 201510960537 A CN201510960537 A CN 201510960537A CN 105380749 A CN105380749 A CN 105380749A
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- wire rope
- steel wire
- pitching
- driving wheel
- deflection
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F11/00—Methods or devices for treatment of the ears or hearing sense; Non-electric hearing aids; Methods or devices for enabling ear patients to achieve auditory perception through physiological senses other than hearing sense; Protective devices for the ears, carried on the body or in the hand
- A61F11/20—Ear surgery
Abstract
The invention discloses a steel wire rope transmission universal mechanism used for a surgical driller. The steel wire rope transmission universal mechanism comprises a deflecting mechanism, a pitching mechanism and a steel wire rope transmission system; the deflecting mechanism is composed of deflecting shafts, driving wheels, guide wheels, a pitching frame, a deflecting cylinder and the like; the pitching mechanism is mainly composed of pitching shafts, driving wheels, a pitching frame, a wrist joint frame, a rotating pipe and the like; the steel wire rope transmission system is composed of driving wheels, guide wheels, a guide wheel axle and a guide wheel stand. The universal mechanism has three freedom degrees, has the characteristic that the three axes intersect at one point and can simulate wrist movement to drive a tail end actuator to swing, and the universal mechanism is easy and flexible to operate and reliable and accurate. The scheme of wire feeding at the two sides and intersection on different faces is adopted in the steel wire rope transmission system, and the problems that wire feeding on the single side is complex, and wires interfere mutually are effectively solved. The mechanism has the advantages of being stable and reliable in structure, precise in control, free of hysteresis errors, high in transmission efficiency and the like.
Description
Technical field
The present invention relates to a kind of wire rope gearing omnidirectional mechanism, particularly a kind of wire rope gearing omnidirectional mechanism for surgical drill.
Background technology
In traditional surgery operation, the hand-held operating theater instruments of doctor, goes to perform the operation by means of oneself perception and experience, due to psychology or physiological reason, doctor's hand can be shaken, and so just may bring operate miss, light then cause operative failure, heavy then jeopardize the life of patient.Such as in the operation of artificial cochlea's spare-part surgery, surgical drill, when holing, is forbidden if cause to locate because of hand shake, when tip is close to internal ear cartilaginous tissue, and tympanum etc. in may boring brokenly.Therefore, needing the surgical operation drill tools developing a kind of robot assisted, for improving positioning precision, to reduce the shake of doctor's hand physiology, and then improving surgical quality.
Existing surgical operation robot active part has three degree of freedom in location usually, and operating theater instruments has three or four degree of freedom, by having been controlled surgical operation assigned tasks to the motion on these degree of freedom, as sewed up and knotting.For most of surgical operating instrument, the motor control of pitching and deflection two degree of freedom all adopts two antarafacial joints to realize, this just causes joint arm long, the particularity of surgical drill---the length of the bit is longer in addition, if adopt similar structure that connecting rod will be caused elongated, distance between joint increases the cumulative error of end effector mechanism position, and joint is when moving, can produce interference with other auxiliary robots, the existence of joint arm also reduces the position stiffness of end effector.
The domestic and international operating theater instruments kind of drive for surgical operation robot mainly contains bar transmission and wire rope gearing two kinds of methods at present.The drive mechanism of bar transmission is complicated, and precision is poor, and overall dimensions is larger.Compared with bar transmission, wire rope gearing technology has following features: the first, can grow distance transmitting movement and power, be arranged on driver part away from joint position place, make mechanism compacter; The second, wire rope gearing can change transmission direction by directive wheel, and the kind of drive is simple, is particularly suitable for multivariant layout in the confined space; 3rd, appropriate pretightning force can eliminate hysterisis error, and the shock-absorbing functions of steel wire rope can make surgical operating instrument acquisition move more stably simultaneously.Because wire rope gearing has above-mentioned advantage, the application of wire rope gearing in operating theater instruments is therefore made more to be favored.
Summary of the invention
The object of the present invention is to provide a kind of multiple degrees of freedom coplanar, can gimbal function be realized, have Stability Analysis of Structures reliable, control the accurate wire rope gearing omnidirectional mechanism for surgical drill without hysterisis error, transmission efficiency advantages of higher.
In order to achieve the above object, the technical solution adopted in the present invention is as follows:
A kind of wire rope gearing omnidirectional mechanism for surgical drill comprises deflection mechanism, luffing mechanism and wire rope gearing system three part.Deflection mechanism central shaft and luffing mechanism central shaft intersect vertically in same plane, and wire rope gearing system provides power transmission and Motion Transmission for it.
Described deflection mechanism front end connects surgical electric drill, and rear end is connected with this patent mechanism, primarily of compositions such as yawing axis, driving wheel, directive wheel, bearing, check ring, pitching frame and deflection cylinders.Described deflection cylinder is fixedly connected with one end of yawing axis, described yawing axis middle part is connected with bearing fit, and the pitching frame of described bearing and luffing mechanism is connected, and is located by check ring, the described yawing axis other end is connected with driving wheel, and described driving wheel is positioned by check ring.
Described luffing mechanism mainly contains the compositions such as pitch axis, driving wheel, pitching frame, carpal joint frame and tube.Described luffing mechanism front end is connected with this patent mechanism, and rear end is connected with existing patent rapid replacing interface mechanism, refers to invention disclosed patent ZL200910305201.1.Described pitch axis one end is fixedly connected with pitching frame, and the other end is connected with bearing fit, and described bearing and carpal joint frame are connected, and are positioned by check ring, and described pitch axis middle part is connected with directive wheel respectively, is fixedly connected with driving wheel.
Described wire rope gearing system is primarily of compositions such as steel wire rope, driving wheel and directive wheels.Wire rope gearing system adopts the mode of both sides wire, and two steel wire ropes control one degree of freedom, are distributed in mechanism both sides respectively.Every root steel wire rope is drawn from driving wheel connecting hole, walks around half-turn, and the guiding through directive wheel enters tube along carpal joint arm, intersects introduce rapid replacing interface mechanism at the inner antarafacial of tube.
Tool of the present invention has the following advantages:
1. the present invention can realize three-degree-of-freedom motion, and wherein pitching and deflection two degree of freedom intersect vertically in a plane, hand over, have staff bionics feature, flexible operation, convenience with rotation degree of freedom three axis congruence.
2. pitching of the present invention and deflection two degree of freedom intersect vertically in one plane, and being connected from joint becomes joint parallel connection, reduces the cumulative error of end effector mechanism, improves the end poing rigidity of surgical drill apparatus simultaneously.
3. the present invention adopts double square structure phase sleeve to connect, and Stability Analysis of Structures is reliable, can bear larger wind tunnel, the shake of operating theater instruments end when reducing work.
4. the present invention adopts wire rope gearing, imposes appropriate pretightning force, can eliminate hysterisis error, and the shock-absorbing functions of steel wire rope can make surgical operating instrument acquisition move more stably simultaneously.
5. the present invention adopts both sides wire scheme, and every two steel wire ropes control one degree of freedom, enters tube respectively connect power interface section along carpal joint arm, effectively can solve the complicated and problem such as interference mutually of wire that one-sided wire brings.
Accompanying drawing explanation
Fig. 1 is that omnidirectional mechanism of the present invention is applied to overall structure schematic diagram in surgical drill;
Fig. 2 is omnidirectional mechanism structural representation of the present invention;
Fig. 3 is omnidirectional mechanism of the present invention deflection joint exploded view;
Fig. 4 is omnidirectional mechanism pitching joint of the present invention exploded view;
Fig. 5 is omnidirectional mechanism silk transmission principle figure of the present invention;
Fig. 6 is omnidirectional mechanism structure sectional view of the present invention;
Fig. 7 is omnidirectional mechanism driving wheel sectional view of the present invention.
Detailed description of the invention
Describe the present invention below in conjunction with specific embodiment.
The present invention is a kind of wire rope gearing omnidirectional mechanism for surgical drill, for solving surgical drill robot end actuator multiple degrees of freedom problem under small space.
Be illustrated in figure 1 omnidirectional mechanism of the present invention and be applied to overall structure schematic diagram in surgical drill, omnidirectional mechanism comprises deflection mechanism 2, luffing mechanism 3 and wire rope gearing system 4, its front end is connected with surgical drill 1, rear end is connected with rapid replacing interface mechanism 5, can realize rotation R1, R2, R3 of three degree of freedom.
If Fig. 2 is omnidirectional mechanism structural representation of the present invention, deflection structure 2 and luffing structure 3 are that two rectangular configuration are connected to one piece by axle, its two axial lines intersects vertically in same plane, and integrated model is arranged on a carpal joint frame, forms a carpal structure of similar staff; Wire rope transfers system 5, by being made up of directive wheel, guide wheel shaft and guiding wheel carrier, is power transmission and the motion transmission system of omnidirectional mechanism.
Be illustrated in figure 3 omnidirectional mechanism of the present invention deflection joint exploded view, driving wheel 2-5-1 controls deflection drilling pipe 2-1 deflect inward, driving wheel 2-5-2 controls deflection drilling pipe to extrinsic deflection, the embodiment of both direction is identical, for deflect inward, detailed description of the invention is: steel wire rope one end connecting drive device, lead through directive wheel 4-2-1,4-1-1 in one end, be connected with driving wheel 2-5-1, when steel wire rope is tightened up, drive driving wheel 2-5-1 to rotate, moment and motion mode pass to through yawing axis 2-2-1 and deflect drilling pipe 2-1, realize deflection joint deflect inward.Wherein, driving wheel 2-5-1 is fixedly connected with yawing axis 2-2-1, and yawing axis 2-2-1 is fixedly connected with deflection drilling pipe 2-1.
Be illustrated in figure 4 omnidirectional mechanism pitching joint of the present invention exploded view, driving wheel 3-3-1 controls pitching frame 3-1 and upwards rotates, driving wheel 3-3-2 controls pitching frame 3-1 and rotates, both direction embodiment is identical, upwards to rotate, detailed description of the invention is: steel wire rope one end connecting drive device, one end is connected with driving wheel 3-3-1, when steel wire rope is tightened up, driving wheel 3-3-1 is driven to rotate, moment and motion mode pass to pitching frame 3-1 through pitch axis 3-2-1, realize pitching joint and upwards rotate.Wherein, driving wheel 3-3-1 is fixedly connected with pitch axis 3-2-1, and pitch axis 3-2-1 is fixedly connected with pitching frame 3-1.
If Fig. 5 is omnidirectional mechanism silk transmission principle figure of the present invention, described omnidirectional mechanism has 3 degree of freedom R1, R2, R3, each degree of freedom forms closed loop systems by two steel wire ropes and rotates, steel cable controls the rotation direction of one degree of freedom, wherein, deflection joint both direction wire mode is similar, for deflect inward, the silk kind of drive is: steel wire rope one end is connected on drive system M2, the other end is through directive wheel 5-2-2, 4-7-1, 4-5-1, 4-2-1 and 4-1-1 six guiding, enter from driving wheel 2-5-1 inboard, driving wheel connecting hole is passed around driving wheel half-turn, clamp through flexible pipe, fix with driving wheel, through pretension, when steel wire rope is tightened up, drive driving wheel rotates, realize the rotation inwards of deflection mechanism, pitching joint both direction wire mode is similar, to upward deflect, the silk kind of drive is: steel wire rope one end is connected on drive system M1, and the other end is through directive wheel 5-1-1,4-6-1,4-4-1 and 4-3-1 tetra-guiding, enter on the upside of driving wheel 3-3-1, pass driving wheel connecting hole around driving wheel half-turn, through flexible pipe clamping, fix with driving wheel, through pretension, when steel wire rope is tightened up, drives driving wheel to rotate, realize the upwards rotation of luffing mechanism, the control of rotation degree of freedom is inside rapid replacing interface mechanism 5, and steel wire rope one end is connected with drive system, and one end is connected with autobiography silk cylinder, refers to invention disclosed patent ZL200910305201.1.
If Fig. 6 is omnidirectional mechanism structure sectional view of the present invention, the axis of yawing axis 2-2-1,2-2-2 and pitch axis 3-2-1,3-2-2 intersects vertically in a plane, and structure centre is symmetrical simultaneously, and make omnidirectional mechanism more reliable and more stable, wire is convenient.It is similar that four axles install locate mode, for pitch axis 3-2-1, installation locate mode is: pitch axis 3-2-1 one end adopts non-full circle to design, be fixedly connected with pitching frame 3-1, other positions are connected with directive wheel 4-2-1 respectively, are fixedly connected with driving wheel 3-3-1, are connected with bearing 3-4-1, its middle (center) bearing 3-4-1 and carpal joint frame 3-6 is connected, and check ring 3-5-1 positions bearing 3-4-1.
If Fig. 7 is omnidirectional mechanism driving wheel sectional view of the present invention, driving wheel centre bore adopts non-full circle to design, can carry-over moment, again can transmitting movement.On it is taken turns, steel wire rope passes driving wheel connecting hole around driving wheel half-turn, and fixing on the drive wheel by flexible pipe, driving wheel 2-5-1,2-5-2,3-3-1,3-3-2 in Fig. 6 all adopt this to design.
Claims (4)
1. the wire rope gearing omnidirectional mechanism for surgical drill, it is characterized in that, it comprises deflection mechanism, luffing mechanism and wire rope gearing system three part, described deflection mechanism is made up of yawing axis, driving wheel, directive wheel, pitching frame and deflection cylinder etc., luffing mechanism is primarily of compositions such as pitch axis, driving wheel, pitching frame, carpal joint frame and tubes, and wire rope gearing system is made up of driving wheel, directive wheel, guide wheel shaft and guiding wheel carrier.
2. according to the wire rope gearing omnidirectional mechanism for surgical drill according to claim 1, it is characterized in that, deflection structure and luffing structure are that two rectangular configuration are connected to one piece by axle, its two axial lines intersects vertically in same plane, integrated model is arranged on a carpal joint frame, forms a carpal structure of similar staff.
3. according to the wire rope gearing omnidirectional mechanism for surgical drill according to claim 1, it is characterized in that, described deflection mechanism and luffing mechanism driving wheel are distributed in the both sides of deflection cylinder and pitching frame, driven respectively by both sides, mechanism rotates around axis, thus realizes the gimbal function of surgical drill.
4. according to the wire rope gearing omnidirectional mechanism for surgical drill according to claim 1, it is characterized in that, described wire rope gearing system adopts both sides wire scheme, two steel wire ropes of each degree of freedom enter tube along carpal joint arm respectively, and in tube, antarafacial is crossing enters rapid replacing interface mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510960537.7A CN105380749B (en) | 2015-12-17 | 2015-12-17 | A kind of wire rope gearing omnidirectional mechanism for surgical drill |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510960537.7A CN105380749B (en) | 2015-12-17 | 2015-12-17 | A kind of wire rope gearing omnidirectional mechanism for surgical drill |
Publications (2)
| Publication Number | Publication Date |
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| CN105380749A true CN105380749A (en) | 2016-03-09 |
| CN105380749B CN105380749B (en) | 2017-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510960537.7A Expired - Fee Related CN105380749B (en) | 2015-12-17 | 2015-12-17 | A kind of wire rope gearing omnidirectional mechanism for surgical drill |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3508158A4 (en) * | 2016-08-31 | 2019-09-04 | Microport (Shanghai) Medbot Co., Ltd. | Instrument set and operation instrument |
| CN113208736A (en) * | 2021-05-31 | 2021-08-06 | 上海微创医疗机器人（集团）股份有限公司 | Instrument driving device, instrument tail end assembly, surgical instrument and surgical robot |
| CN113352349A (en) * | 2021-06-03 | 2021-09-07 | 深圳忆海原识科技有限公司 | Two-degree-of-freedom orthogonal tendon transmission joint module |
| CN113775637A (en) * | 2021-09-06 | 2021-12-10 | 国网思极紫光(青岛)微电子科技有限公司 | Bidirectional damping rotating shaft |
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| US20030100892A1 (en) * | 2000-07-27 | 2003-05-29 | Intuitive Surgical, Inc. | Roll-pitch-roll surgical tool |
| US20060219065A1 (en) * | 2005-03-29 | 2006-10-05 | Kabushiki Kaisha Toshiba | Manipulator |
| US20100004663A1 (en) * | 2008-07-07 | 2010-01-07 | Intuitive Surgical, Inc. | Surgical instrument wrist |
| CN102119872A (en) * | 2011-01-10 | 2011-07-13 | 天津大学 | Compact quick-change mechanism of robot for minimally invasive surgery |
| CN103251458A (en) * | 2013-05-09 | 2013-08-21 | 天津工业大学 | Wire transmission four-freedom-degree surgical instrument for minimally invasive surgery robot |
| CN104970840A (en) * | 2015-07-16 | 2015-10-14 | 天津工业大学 | Six-degree-of-freedom surgical instrument by adoption of cable driving used for minimally invasive surgery |
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2015
- 2015-12-17 CN CN201510960537.7A patent/CN105380749B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030100892A1 (en) * | 2000-07-27 | 2003-05-29 | Intuitive Surgical, Inc. | Roll-pitch-roll surgical tool |
| US20060219065A1 (en) * | 2005-03-29 | 2006-10-05 | Kabushiki Kaisha Toshiba | Manipulator |
| US20100004663A1 (en) * | 2008-07-07 | 2010-01-07 | Intuitive Surgical, Inc. | Surgical instrument wrist |
| CN102119872A (en) * | 2011-01-10 | 2011-07-13 | 天津大学 | Compact quick-change mechanism of robot for minimally invasive surgery |
| CN103251458A (en) * | 2013-05-09 | 2013-08-21 | 天津工业大学 | Wire transmission four-freedom-degree surgical instrument for minimally invasive surgery robot |
| CN104970840A (en) * | 2015-07-16 | 2015-10-14 | 天津工业大学 | Six-degree-of-freedom surgical instrument by adoption of cable driving used for minimally invasive surgery |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3508158A4 (en) * | 2016-08-31 | 2019-09-04 | Microport (Shanghai) Medbot Co., Ltd. | Instrument set and operation instrument |
| CN113208736A (en) * | 2021-05-31 | 2021-08-06 | 上海微创医疗机器人（集团）股份有限公司 | Instrument driving device, instrument tail end assembly, surgical instrument and surgical robot |
| CN113208736B (en) * | 2021-05-31 | 2023-02-10 | 上海微创医疗机器人（集团）股份有限公司 | Instrument driving device, instrument tail end assembly, surgical instrument and surgical robot |
| CN113352349A (en) * | 2021-06-03 | 2021-09-07 | 深圳忆海原识科技有限公司 | Two-degree-of-freedom orthogonal tendon transmission joint module |
| CN113775637A (en) * | 2021-09-06 | 2021-12-10 | 国网思极紫光(青岛)微电子科技有限公司 | Bidirectional damping rotating shaft |
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Granted publication date: 20170822 Termination date: 20201217 |