CN111374770A - Pitching mechanical arm of medical robot - Google Patents

Abstract

The invention relates to the technical field of mechanical arms of medical robots, in particular to a pitching mechanical arm of a medical robot, comprising relatively parallel driven arms, fixed arms, and driving arms. The end and the head end of the fixed arm are hingedly arranged, and a main drive assembly is arranged in the fixed arm near the end; The first movable mechanism drives the second movable mechanism between the end of the driven arm and the head end of the driving arm, so that the driven arm rotates along the hinged position of the end to achieve that the movable and fixed arms are always parallel; The second movable mechanism drives the auxiliary drive assembly at the head end of the driven arm to work synchronously. The effect of the invention is that it has higher stability and can effectively guarantee the safety of medical and surgical operations.

Description

Tilt robotic arm of medical robot

technical field

The invention relates to the technical field of medical robot mechanical arms, in particular to a pitching mechanical arm of a medical robot.

Background technique

In common scenarios of surgical operations assisted by surgical robots, doctors operate the master hand of the robot away from the patient, and follow the master-slave control mode to control the movement of the surgical instruments of the patient-side robot at the surgical site. The form of the main hand end includes, but is not limited to, a series homogeneous robot arm, a series heterogeneous robot arm, a parallel robot arm, an exoskeleton glove, etc., through which the position and orientation of the surgical instrument at the surgical site can be controlled.

At present, at home and abroad, there are higher requirements for the robotic arms used in medical and surgical operations. After the end of the instrument accurately positions a certain part of the patient's body, it is necessary to adjust the relative position between the robotic arms. , it is necessary to ensure that the end of the instrument acting on a certain part of the patient's body does not shift, but only the mechanical arm needs to be displaced accordingly. Therefore, for the robotic arm in the medical field, how to realize the displacement of the robotic arm will not cause the end of the instrument acting on a certain part of the patient's body to be offset, and at the same time, it can also ensure that the robotic arm can maintain a relatively high degree of displacement during displacement. With high stability, it is a problem to be solved to further improve the safety of medical surgery.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a pitching mechanical arm of a medical robot, which has high stability when the mechanical arm is displaced in the adjustment position, and can effectively ensure the safety of medical surgery.

The above-mentioned technical purpose of the present invention is achieved through the following technical solutions:

A pitching mechanical arm of a medical robot, comprising a relatively parallel driven arm, a fixed arm, and a driving arm. A main drive assembly is arranged in the position close to its end; the main drive assembly drives the first movable mechanism between the end of the drive arm and the head end of the fixed arm, so that the drive arm rotates along the hinge position of the end; the first movable mechanism drives the driven The second movable mechanism between the end of the arm and the head end of the driving arm makes the driven arm rotate along the hinge position of the end to achieve the parallel between the driven arm and the fixed arm; the second movable mechanism drives the head end of the driven arm. The auxiliary drive components work synchronously.

By adopting the above technical solution, the main drive assembly in the fixed arm drives the first movable mechanism to rotate, and the first movable mechanism drives the second movable mechanism to rotate. The role of the arm is the diagonal of the parallelogram formed by the virtual connection between the head and end of the movable and fixed arms. Based on this principle, when the mechanical arm is displaced in the adjustment position, the head end of the driven arm is displaced by The trajectory is an arc with a fixed center of the circle. At the same time, the auxiliary driving part rotates synchronously, which can drive the instrument to have a corresponding rotation to match the arc trajectory to ensure that the end of the instrument acting on a certain part of the patient's body does not shift. During this operation, it has high stability and can effectively guarantee the safety of medical and surgical operations.

The present invention further provides that: the structure of the first movable mechanism is as follows: the head end of the fixed arm is provided with a first hinge hole on the side facing the driving arm, and the end of the driving arm is provided with a side opposite to the first hinge hole The first hinged sleeve matched with the first hinged hole has a main pulley fixedly installed with the first hinged sleeve in the fixed arm at the first hinged hole, and the main pulley is driven to rotate by the main drive assembly.

By adopting the above technical solution, the main drive assembly is used to drive the drive arm to rotate through the main pulley, the structure of each adjustment arm is effectively utilized, and an excessively large and complicated transmission system is not required. This design can reduce the space of the product to a certain extent. occupied.

The present invention further provides that: the main drive assembly is a pulley driven by a power device arranged in the fixed arm and close to the end, and the pulley and the main pulley transmit power through a synchronous belt.

By adopting the above technical solution, the power device can directly drive the pulley to transmit the power in the form of belt drive, which can effectively reduce the noise when the instrument is working, and at the same time, the stability is also significantly improved.

The present invention is further provided as follows: the first movable mechanism further comprises a first flange fixedly connected between the fixed arm and the fixed arm, and the middle of the first flange is provided with a first hinge sleeve extending to the drive The first connecting shaft in the arm, and the first connecting shaft in the driving arm is fixedly mounted with a transmission wheel that drives the second movable mechanism.

By adopting the above technical solution, the first diagonal rotation point of the parallelogram structure is formed, and the driving arm is rotated relative to the driven arm, so that the transmission wheel rotates relative to the driving arm. At the same time, this design solution, It can effectively use the space of the product, and the accuracy is also significantly improved.

The present invention further provides that: the structure of the second movable mechanism is as follows: the head end of the driving arm and the side facing the driven arm are provided with a second hinge hole, and the end of the driven arm is on the side opposite to the second hinge hole A second hinged sleeve matching the second hinged hole is provided, and a first auxiliary pulley fixedly installed with the second hinged sleeve is arranged in the driving arm at the second hinged hole, and the first auxiliary pulley is driven by the transmission pulley. drive it to rotate.

By adopting the above technical solution, when the driving arm rotates relative to the driven arm, a rotational relationship is formed between the transmission pulley and the first secondary pulley, so that the driven arm rotates synchronously, so that the driven arm and the fixed arm are always maintained In the parallel state, the drive wheel is used to drive the driven arm to rotate through the first auxiliary wheel, and the structure of each adjustment arm is effectively used, and an excessively complicated transmission system is not required. to reduce the space occupied by the product.

The present invention further provides that: the driving arm is provided with a second flange fixedly connected to the driven arm, and the middle of the second flange is provided with a second flange extending through the second hinge sleeve and extending into the driven arm. Two connecting shafts, a second auxiliary pulley is fixedly installed on the second connecting shaft in the driven arm.

By adopting the above technical solution, the second diagonal rotation point of the parallelogram structure is formed. At the same time, this design solution can effectively utilize the space of the product, and at the same time, the accuracy is also significantly improved.

The present invention further provides that: the auxiliary drive assembly is a rotating shaft arranged at the head end of the driven arm, and an output pulley that transmits power to the second auxiliary pulley through a synchronous belt is rotatably provided on the rotating shaft.

By adopting the above technical solution, the belt transmission between the rotating shaft and the second auxiliary pulley is used, which effectively improves the ability of the auxiliary drive assembly to interact with the instrument when the auxiliary drive assembly drives the instrument acting on a certain part of the patient's body when the equipment is in use. The operation of the first and second movable mechanisms is kept synchronous, and can ensure the displacement along the concentric arc-shaped trajectory, so that the end of the instrument does not shift, has a high degree of stability, and can effectively ensure the safety of medical and surgical operations. sex.

To sum up, the present invention has the following beneficial technical effects: the movable mechanism is used to cooperate with the driven arm, the fixed arm and the driving arm that can form a parallelogram structure to realize synchronous work, and at the same time, the auxiliary driving components are arranged to work synchronously, so that the mechanical arm can work synchronously. When the adjustment position is displaced, the trajectory of the displacement of the head end of the follower arm is an arc with a fixed center of the circle, which ensures that the end of the instrument acting on a certain part of the patient's body does not shift, has a high degree of stability, and can Effectively guarantee the safety of medical and surgical operations.

Description of drawings

Figure 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic cross-sectional structural diagram of plane A-A in FIG. 1 .

FIG. 3 is a schematic cross-sectional structural diagram of the B-B plane in FIG. 1 .

In the figure, 1, the driven arm; 2, the fixed arm; 3, the driving arm; 4, the pulley; 5, the first hinged sleeve; 6, the main pulley; 7, the first flange; 8, the first connecting shaft ; 9, transmission wheel; 10, the second hinge sleeve; 11, the first auxiliary pulley; 12, the second flange; 13, the second connecting shaft; 14, the second auxiliary pulley; 15, the rotating shaft.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings.

Referring to FIG. 1 , the present invention discloses a pitching manipulator of a medical robot, including a relatively parallel driven arm 1 and a fixed arm 2 , and a driving arm 3 . The first and last ends of the driving arm 3 are respectively connected with the driven arm 1 . The end and the head end of the fixed arm 2 are hingedly arranged. For the mechanical arm in this embodiment, it is necessary to ensure good stability and safety in use. Therefore, in the process of work, the driven arm 1 and the fixed arm 2 should always be kept parallel, and the synchronous operation in the form of parallelogram needs to be realized, and the driving arm 3 needs to play the function of the diagonal of the parallelogram.

Wherein, a main drive assembly is provided in the fixed arm 2 near its end; the main drive assembly is a pulley 4 that is arranged in the fixed arm 2 and is close to the end and is driven by a power device. The power device can generally be set as a motor, or can be a structure in which the motor drives the reducer, and of course can be other devices that can drive the pulley 4 to rotate.

2, a first movable mechanism is provided between the end of the driving arm 3 and the head end of the fixed arm 2, and the pulley 4 drives the first movable mechanism to make the driving arm 3 rotate along the hinge position of its end; the structure of the first movable mechanism is: The head end of the fixed arm 2 and the side facing the drive arm 3 is provided with a first hinge hole, and the end of the drive arm 3 is provided with a first hinge sleeve 5 matching the first hinge hole on the side opposite to the first hinge hole , the fixed arm 2 is provided with a main pulley 6 fixedly installed between the first hinged hole and the first hinged sleeve 5, and the pulley 4 and the main pulley 6 transmit power through the synchronous belt; A first flange 7 is fixedly connected between the arms 2. The middle of the first flange 7 is provided with a first connecting shaft 8 extending into the driving arm 3 through the first hinge sleeve 5, and the first connecting shaft 8 in the driving arm 3. A transmission wheel 9 for driving the second movable mechanism is fixedly mounted on a connecting shaft 8 .

3, a second movable mechanism is provided between the end of the driven arm 1 and the head end of the driving arm 3, and the transmission wheel 9 drives the second movable mechanism to rotate the driven arm 1 along the hinge position of its end to achieve the movable and fixed arms The structure of the second movable mechanism is: the head end of the driving arm 3 and the side facing the driven arm 1 are provided with a second hinge hole, and the end of the driven arm 1 is opposite to the second hinge hole. The side is provided with a second hinged sleeve 10 matching the second hinged hole, and the driving arm 3 is provided with a first auxiliary pulley 11 fixedly installed between the second hinged sleeve 10 and the second hinged hole at the second hinged hole. The pulley 11 is driven to rotate by the transmission wheel 9; the driving arm 3 is provided with a second flange 12 which is fixedly connected with the driven arm 1, and the middle of the second flange 12 is provided with a second hinge sleeve 10 passing through it. Extending to the second connecting shaft 13 in the driven arm 1 , a second secondary pulley 14 is fixedly mounted on the second connecting shaft 13 in the driven arm 1 .

The above-mentioned second secondary pulley 14 drives the secondary drive assembly at the head end of the driven arm 1 to work synchronously. An output wheel that transmits power between the wheels 14 through a timing belt.

In the specific implementation of this embodiment, the pulley 4 drives the main pulley 6 to rotate through the power device, and the rotation of the main pulley 6 drives the driving arm 3 to rotate relative to the fixed arm 2 around the axis of the first hinged sleeve 5. During the rotation, Since the first flange 7 is fixedly connected with the fixed arm 2, the first flange 7, the first connecting shaft 8 and the transmission wheel 9 are in a relatively fixed relationship, so when the driving arm 3 rotates, the transmission A relative rotation relationship is formed between the pulley 9 and the drive arm 3. The transmission pulley 9 and the first auxiliary pulley 11 transmit power through the belt drive, and the first auxiliary pulley 11 can rotate relative to the drive arm 3. Then, during the rotation of the drive arm 3, the angle between the drive arm 3 and the fixed arm 2 increases or decreases accordingly. At the same time, the synchronization between the transmission pulley 9 and the first secondary pulley 11 The side of the belt that is in close contact with the two also changes accordingly, that is, when the contact surface between the synchronous belt and the transmission wheel 9 and the first auxiliary pulley 11 is transferred, and the transmission wheel 9 here is If it is fixed, the transferred force will drive the first secondary pulley 11 to rotate correspondingly, so as to achieve the synchronous rotation of the driven arm 1 and the work requirement of being parallel to the fixed arm 2 all the time.

Then, the working principle of the second flange 12 and the second secondary pulley 14 is the same as the working principle of the first flange 7 and the transmission pulley 9, and both the driven arm 1 and the driving arm 3 rotate. During the process, the output wheel of the auxiliary drive assembly is also rotating synchronously. During the rotation process, the running trajectory of the head end of the follower arm 1 is arc-shaped, so in order to make the arc-shaped trajectory more accurate, the operability of the equipment is better. Well, this effect can be achieved by turning the output wheels synchronously.

This specific embodiment is only an explanation of the present invention, and it does not limit the present invention. Those skilled in the art can make modifications without creative contribution to the present embodiment as required after reading this specification, but as long as the rights of the present invention are used All claims are protected by patent law.

Claims (7)

1. A pitching mechanical arm of a medical robot, comprising a relatively parallel driven arm (1) and a fixed arm (2), and a driving arm (3), the first and last ends of the driving arm (3) are respectively connected to the driven arm (3). The end and the head end of the arm (1) and the fixed arm (2) are hingedly arranged, and it is characterized in that: a main drive assembly is arranged in the position of the fixed arm (2) close to the end; the end of the main drive assembly drives the drive arm (3) to be connected with The first movable mechanism between the head ends of the fixed arms (2) makes the driving arm (3) rotate along the hinge position of its end; the first movable mechanism drives the end of the driven arm (1) and the head end of the driving arm (3) The second moving mechanism between the two, so that the driven arm (1) rotates along the hinge position of its end to keep parallel between the driven arm (1) and the fixed arm (2); the second moving mechanism drives the driven arm ( 1) The auxiliary drive components at the head end work synchronously. 2. The pitching mechanical arm of a medical robot according to claim 1, wherein the structure of the first movable mechanism is: the head end of the fixed arm (2) and the side facing the driving arm (3) are provided with a first hinge hole, the end of the drive arm (3) is provided with a first hinge sleeve (5) matching the first hinge hole on the side opposite to the first hinge hole, and the fixed arm (2) is located in the first hinge hole There is a main pulley (6) fixedly installed between the first hinge sleeve (5), and the main pulley (6) is driven to rotate by the main drive assembly. 3. The pitching manipulator of a medical robot according to claim 2, wherein the main drive assembly is a pulley (4) driven by a power device that is arranged in the fixed arm (2) and is close to the end, and the pulley ( 4) The power is transmitted with the main pulley (6) through the synchronous belt. 4. The pitching manipulator of a medical robot according to claim 2, wherein the first movable mechanism further comprises a first flange fixedly connected between the fixed arm (2) and the fixed arm (2). Plate (7), the middle of the first flange plate (7) is provided with a first connecting shaft (8) extending into the drive arm (3) through the first hinge sleeve (5), and the A transmission wheel (9) for driving the second movable mechanism is fixedly mounted on the first connecting shaft (8). 5. The pitching manipulator of a medical robot according to claim 4, wherein the structure of the second movable mechanism is: the head end of the driving arm (3) and the side of the driven arm (1) are arranged There is a second hinge hole, the end of the driven arm (1) is provided with a second hinge sleeve (10) matching the second hinge hole on the side opposite to the second hinge hole, and the drive arm (3) is located in the second hinge hole. The hinge hole is provided with a first secondary pulley (11) fixedly installed between the second hinge sleeve (10), and the first secondary pulley (11) is driven to rotate by a transmission wheel (9). 6. The pitching mechanical arm of a medical robot according to claim 5, characterized in that: the driving arm (3) is provided with a second flange (12) that is fixedly connected with the driven arm (1), The middle of the second flange (12) is provided with a second connecting shaft (13) extending into the driven arm (1) through the second hinge sleeve (10), and a second connecting shaft (13) in the driven arm (1) A second secondary pulley (14) is fixedly mounted on the shaft (13). 7. The pitching mechanical arm of a medical robot according to claim 6, wherein the auxiliary drive assembly is a rotating shaft (15) arranged at the head end of the driven arm (1), and a rotating shaft (15) is rotated on the rotating shaft (15). There is an output pulley that transmits power through a timing belt with the second secondary pulley (14).

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