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Publication numberCN104783900 B
Publication typeGrant
Application numberCN 201510157545
Publication date22 Feb 2017
Filing date3 Apr 2015
Priority date3 Apr 2015
Also published asCN104783900A
Publication number201510157545.8, CN 104783900 B, CN 104783900B, CN 201510157545, CN-B-104783900, CN104783900 B, CN104783900B, CN201510157545, CN201510157545.8
Inventors何玉成, 张朋, 胡颖, 侯西龙, 孙祥泉, 张建伟, 朱丽
Applicant中国科学院深圳先进技术研究院
Export CitationBiBTeX, EndNote, RefMan
External Links: SIPO, Espacenet
随动式鼻内镜手术辅助机器人 With Move robot assisted endoscopic sinus surgery translated from Chinese
CN 104783900 B
Abstract  translated from Chinese
本发明提供了一种随动式鼻内镜手术辅助机器人,其包括可适配于不同手术床的导轨上的导轨适配器、连接于导轨适配器上且在垂直于手术床的方向上升降的自动升降机构、连接于自动升降机构末端且在平行于手术床的平面内伸缩的自动伸缩机构、连接于自动伸缩机构的末端的二自由度的RCM机构、连接于RCM机构的末端且带动鼻内镜进行深度进给及角度补偿的自动末端调节机构及控制自动升降机构、自动伸缩机构、RCM机构及自动末端调节机构动作的控制器。 The present invention provides an endoscopic surgery of formula follower slave robot, which may be adapted to include different operating bed rail rail adapter, the adapter is connected to the upper rail of the automatic lifting and lifting in a direction perpendicular to the operating bed means, connected to the end of the lifting mechanism and the automatic retractable in a plane parallel to the operating table of the automatic retractable mechanism connected to the two degree of freedom mechanism of the end of the RCM automatic retractable mechanism connected to the end of RCM drive mechanism and nasal endoscopes depth and angle of infeed automatic compensation adjustment mechanism and a control terminal automatic lifting mechanism, automatic retractable mechanism, the RCM mechanism and automatic operation end controller adjustment mechanism. 机器人在手术中代替医生把持鼻内镜,并跟随手术器械进行适时适度调整,解放医生的左手,解决手术中出现的画面晃动,降低医生的劳动强度,减少并发症。 Instead of robotic surgery in the doctor holding nasal endoscopy, surgical instruments and follow conduct timely and appropriate adjustments, the liberation of the doctor's left hand, surgery appears to solve the screen shaking, doctors reduce labor intensity and reduce complications.
Claims(9)  translated from Chinese
1.一种随动式鼻内镜手术辅助机器人,其特征在于:所述随动式鼻内镜手术辅助机器人包括可适配于不同手术床的导轨上的导轨适配器、连接于所述导轨适配器上且在垂直于所述手术床的方向上升降的自动升降机构、连接于所述自动升降机构末端且在平行于所述手术床的平面内伸缩的自动伸缩机构、连接于所述自动伸缩机构的末端的二自由度的RCM机构、连接于所述RCM机构的末端且带动鼻内镜进行深度进给及角度补偿的自动末端调节机构及控制所述自动升降机构、所述自动伸缩机构、所述RCM机构及所述自动末端调节机构动作的控制器,所述自动末端调节机构包括固定于所述RCM机构末端的导轨、滑动安装于所述导轨上的滑套、固定于所述滑套上的丝杠螺母件、连接于所述导轨相对两端的两个立板、转动连接于两个所述立板之间且啮合于所述丝杠螺母件上 A follower slave robot formula endoscopic surgery, wherein: said follower type robot assisted endoscopic surgery may be adapted to include different operating bed rail adapter on the rail, the guide rail is connected to the adapter and the automatic lifting mechanism in a direction perpendicular to the operating bed lift is connected to the automatic lifting mechanism and the telescopic end in a plane parallel to the operating bed automatically retractable mechanism connected to the automatic telescoping mechanism RCM means two degrees of freedom of the end connected to the end of the RCM and the drive mechanism endoscopic infeed depth and angle of the end of the automatic compensating adjustment mechanism and the automatic lift control mechanism, the automatic retractable mechanism, the RCM said terminal means and the controller automatically adjusting operation of the mechanism, the automatic adjustment mechanism includes a fixed end at the end of the RCM guide means, slidably mounted on the sleeve on the guide rail fixed to the upper sleeve the spindle nut member connected to the two opposite ends of the vertical guide plates, between two rotatably connected to the riser and engaged with the lead screw nut member 丝杠、驱动所述丝杠转动以带动所述丝杠螺母件移动的第一驱动机构、固定于所述丝杠螺母件上的支座、转动安装于所述支座上的旋转台、固定连接于所述旋转台上的鼻内镜夹及驱动所述旋转台转动的第二驱动机构。 Screw, driving the lead screw to drive rotation of the first drive mechanism for moving the threaded nut member fixed to the support member on the spindle nut, rotatably mounted on the carrier on the turntable, the fixed connected to said rotating table endoscopic clip and driving the second rotary drive mechanism for rotation.
2.如权利要求1所述的随动式鼻内镜手术辅助机器人,其特征在于:所述自动升降机构包括底座、与所述底座相对的顶座、设置于所述底座与所述顶座之间的升降台、固定于所述升降台上的丝杠螺母、与所述丝杠螺母啮合的丝杠、支撑于所述升降台与所述顶座之间的支撑柱及驱动所述丝杠转动以带动所述升降台升降的驱动机构,所述自动伸缩机构的一端部固定于所述顶座上。 2. The follower auxiliary robot formula endoscopic surgery according to claim 1, wherein: said automatic lifting mechanism includes a base, a top opposing the base seat provided on the base and the top seat between lifts, fixed to the lifting table spindle nut, screw engagement with the spindle nut, is supported on the support post and the driving of the yarn between the elevator and the top seat the lift lever to rotate to drive the drive mechanism for the lifting of an end portion of the automatic retractable mechanism fixed to said top seat.
3.如权利要求2所述的随动式鼻内镜手术辅助机器人,其特征在于:所述自动升降机构还包括设置于所述升降台与所述顶座之间的滚珠花键副固定架、固定于所述升降台上的轴套及穿设于所述轴套内的花键杆,所述花键杆的相对两端分别固定在所述滚珠花键副固定架和所述底座上,所述丝杠的第一端转动连接于所述底座上,所述丝杠的与第一端相对的第二端穿过所述丝杠螺母并固定于所述滚珠花键副固定架上。 3. The follower of formula robot assisted endoscopic surgery according to claim 2, wherein: said elevating means further comprises a sub-automatic mount a ball spline disposed between the lifting table and the top seat fixed to the lifting table and the hub is disposed through the hub spline shaft, the spline shaft opposite ends are fixed on the ball spline sub-mount and the base the first end of the lead screw rotatably coupled to said base, said screw passing through a second end opposite the first end of the spindle nut and fixed to the sub-mount on the ball spline .
4.如权利要求3所述的随动式鼻内镜手术辅助机器人,其特征在于:所述驱动机构包括固定于所述底座上的电机、固定连接于所述电机的输出轴的第一同步带轮、固定连接于所述丝杠的第一端上的第二同步带轮及套设于所述第一同步带轮与所述第二同步带轮上的同步带。 4. The follower of formula endoscopic surgery slave robot according to claim 3, wherein: said driving means comprises a motor fixed on the base, a first synchronous fixedly connected to the output shaft of the motor pulley, fixedly connected to the threaded sleeve and the second belt round the first belt wheel is provided on the first end and the second belt wheel on the belt.
5.如权利要求3所述的随动式鼻内镜手术辅助机器人,其特征在于:所述轴套为若干个,若干个所述轴套均匀分布于所述丝杠螺母的周围,对应每个所述轴套安装有所述花键杆。 5. The follower of formula robot assisted endoscopic surgery according to claim 3, wherein: said sleeve is a plurality, a plurality of uniformly distributed around said sleeve of the spindle nut, each corresponding to of said bushing mounted with said splined shaft.
6.如权利要求1所述的随动式鼻内镜手术辅助机器人,其特征在于:所述自动伸缩机构包括依次转动连接的若干转动关节支座及驱使相邻两个所述转动关节支座相对转动的转动机构,若干所述转动关节支座中的位于首端的转动关节支座固定于所述自动升降机构末端,若干所述转动关节支座中的位于末端的转动关节支座转动连接于所述RCM机构的首端。 6. The follower of formula robot assisted endoscopic surgery according to claim 1, wherein: said automatically retractable support means comprises a plurality of sequentially rotating joints rotatably connecting adjacent two of the driving and rotating joints carrier relative rotation mechanism rotates the plurality of rotating joints revolute joint bearing located in the head end abutment fixed to the end of the automatic lifting mechanism, located at the end of said plurality of rotatable revolute joint abutment joint is rotatably connected to the support RCM means of said head end.
7.如权利要求1所述的随动式鼻内镜手术辅助机器人,其特征在于:所述RCM机构包括与所述自动伸缩机构的末端转动连接的首端基座、末端进给基座及左右对称设置的四个连杆组,该四个连杆组与所述首端基座、所述末端进给基座共同组合成两个转动连接的平行四边形机构,所述首端基座内部安装有电机,所述电机驱动其中一个平行四边形机构转动。 7. The endoscopic surgery formula follower slave robot according to claim 1, wherein: said means comprises a RCM with the end of the automatic rotation of the telescopic mechanism connected to the first end of the base, and the base end of the feed four symmetrically disposed linkage, the linkage of the four head end of the base, the base end of the common feed composition into two parallelogram mechanism is rotatably connected to the inner head end of the base motor is mounted, wherein the drive motor rotates a parallelogram mechanism.
8.如权利要求1所述的随动式鼻内镜手术辅助机器人,其特征在于:所述第一驱动机构包括第一电机、固定于所述第一电机的输出轴上的第一同步带轮、固定于所述丝杠上的第二同步带轮及套设于所述第一同步带轮与所述第二同步带轮上的第一同步带;所述第二驱动机构包括固定于所述支座上的第二电机、固定于所述第二电机的输出轴上的第三同步带轮、固定于所述支座上的第四同步带轮及套设于所述第三同步带轮与所述第四同步带轮上的第二同步带。 8. The follower of formula robot assisted endoscopic surgery according to claim 1, wherein: said first drive means comprises a first first synchronous motor, fixed to the first output shaft of the motor wheel fixed to the second belt round the threaded sleeve and disposed in said first first synchronous belt wheel on the second timing belt pulleys; the second drive means comprises a fixed the third timing pulleys on said second motor mount fixed to an output shaft of the second motor is fixed to the bearing sleeve and the fourth timing pulleys provided on said third synchronization and said second timing belt pulley wheel on the fourth belt.
9.如权利要求1所述的随动式鼻内镜手术辅助机器人,其特征在于:所述导轨适配器包括U形架,该U形架包括相互平行的两个侧轨及连接于两个所述侧轨之间的横轨,所述导轨适配器还包括可滑动安装于两个所述侧轨上且固定连接于所述手术床的边沿上的第一滑块及可滑动安装于所述横轨上的第二滑块,所述第一滑块与所述第二滑块于滑至预定位置时通过在两个垂直方向上的固定而分别固定于所述侧轨与所述横轨上,所述自动升降机构的底端固定于所述第二滑块上。 9. The follower of formula robot assisted endoscopic surgery according to claim 1, wherein: said adapter comprises a U-shaped frame rail, the U-shaped frame comprising two mutually parallel side rails and is connected to the two cross rail between said side rails, said adapter further comprising a guide rail slidably mounted on the two side rails and fixedly connected to the first slide on the edge of the operating bed and slidably mounted on said cross rail on the second slider, the first slider and the second slider to slide when the predetermined position by fixing in two perpendicular directions and are fixed to the side rails and the cross rail , the bottom end of said automatic elevating mechanism fixed to the second slider.
Description  translated from Chinese
随动式鼻内镜手术辅助机器人 With Move robot assisted endoscopic sinus surgery

技术领域 FIELD

[0001]本发明属于医疗器械领域,尤其涉及一种随动式鼻内镜手术辅助机器人。 [0001] The present invention belongs to the field of medical devices, particularly to a follower-type robot assisted endoscopic surgery.

背景技术 Background technique

[0002]鼻内镜手术以去除鼻腔病灶,恢复鼻腔通气为主要目的。 [0002] endoscopic sinus surgery to remove nasal lesions and restore nasal ventilation as the main purpose. 传统的鼻内镜手术方式为手术医生左手持镜,右手进行手术操作,该手术方式存在以下问题: The traditional endoscopic sinus surgery is the surgeon way mirror in his left hand, right hand surgery operation, there is a problem of the surgical approach:

[0003]第一,手术医生需要一只手把持鼻内镜,故其只有一只手能够进行其他的手术操作,而单手操作有很多局限性,有些复杂操作(如切除操作)单手很难完成,需要双手操作。 [0003] First, the surgeon needs a hand holding an endoscope, and so the only one hand can perform other surgical procedures, and one-handed operation has many limitations, some complex operations (such as the removal operation) with one hand very difficult to complete, requires two hands to operate. 而当需要双手操作时,医生往往依靠助手来持镜,而医生和助手之间的沟通、协调也是一个问题; And when you need both hands to operate, doctors often rely on assistants to hold the mirror, and between doctors and assistants communication, coordination is also a problem;

[0004]第二,人手长期持镜会导致手术医生肌肉酸疼,难以长时间保持操作稳定性,容易造成手术画面晃动,造成误操作,这些都不利于手术的顺利进行,严重时还会对患者造成额外的创伤。 [0004] Second, long-term staff who mirror the surgeon can cause muscle aches, difficult to maintain operational stability for a long time, likely to cause the operation screen shaking, lead to misuse, these are not conducive to the smooth operation, serious cases will patients cause additional trauma.

[0005]为了解决医生的左手长期持镜的问题,提出了辅助医生来夹持鼻内镜的装置,现有的被动式鼻内镜夹持机构往往采用气动或液压来实现关节锁紧,虽然能代替医生左手持镜,但还是不能做到完全随动性,手术过程中需要医生频繁去调节机械臂的位置、姿态来调整鼻内镜视野,调整过程烦琐;调整时关节松合过程中会出现晃动,影响手术视野。 [0005] In order to solve the problem of long-term doctor's left hand holding the mirror, put forward to assist doctors holding nasal endoscopic devices, endoscopic sinus existing passive clamping mechanism is often used by pneumatic or hydraulic implement locking joints, although they would Instead of doctors left hand holding a mirror, but still do not fully follow nature, the procedure requires a doctor frequently to adjust the position of the robot arm, to adjust the attitude of nasal endoscopic vision, the adjustment process is cumbersome; articular loose fit process will shake adjustment affect the operative field.

[0006]现有的随动式鼻内镜手术辅助机器人结构复杂,成本较高而且体积大,在受限的手术空间里机器人容易与手术器械互相干涉。 [0006] Formula conventional endoscopic surgery follower slave robot complex structure, high cost and large volume, the robot easily interfere with each surgical instrument in a confined surgical space.

发明内容 SUMMARY

[0007]本发明的目的在于提供一种随动式鼻内镜手术辅助机器人,旨在解决现有技术中存在的手持鼻内镜的手术方式所带来的操作局限性问题。 [0007] The object of the present invention to provide a servo type robot assisted endoscopic surgery, intended to address the limitations of the prior art operating in the presence of endoscopic surgical hand brought.

[0008]本发明是这样实现的,一种随动式鼻内镜手术辅助机器人,其包括可适配于不同手术床的导轨上的导轨适配器、连接于所述导轨适配器上且在垂直于所述手术床的方向上升降的自动升降机构、连接于所述自动升降机构末端且在平行于所述手术床的平面内伸缩的自动伸缩机构、连接于所述自动伸缩机构的末端的二自由度的RCM机构、连接于所述RCM机构的末端且带动鼻内镜进行深度进给及角度补偿的自动末端调节机构及控制所述自动升降机构、所述自动伸缩机构、所述RCM机构及所述自动末端调节机构动作的控制器。 [0008] The present invention is achieved in a servo-type robot assisted endoscopic surgery, which can be adapted to include different operating bed rail adapter on the rail, the rail is connected to the adapter, and the perpendicular to the automatic lifting mechanism elevating direction of said operating table, coupled to the automatic lifting mechanism and the telescopic end in a plane parallel to the operating bed automatically retractable mechanism connected to the end of automatic retractable mechanism two degrees of freedom the RCM mechanism connected to the end of the RCM and the drive mechanism endoscopic infeed depth and angle of the end of the automatic compensating adjustment mechanism and the automatic lift control mechanism, the automatic retractable mechanism, and the mechanism of the RCM automatic operation end controller adjustment mechanism.

[0009]进一步地,所述自动升降机构包括底座、与所述底座相对的顶座、设置于所述底座与所述顶座之间的升降台、固定于所述升降台上的丝杠螺母、与所述丝杠螺母啮合的丝杠、支撑于所述升降台与所述顶座之间的支撑柱及驱动所述丝杠转动以带动所述升降台升降的驱动机构,所述自动伸缩机构的一端部固定于所述顶座上。 [0009] Further, the automatic lifting mechanism includes a base, a top opposing the base seat provided on the lifting platform between the base and the top seat, fixed to the lifting spindle nut table , engaging with the screw spindle nut, supported on the support column and the lifting driving the lead screw between the station and the top of the seat rotates to drive the drive mechanism for elevating the lift, the automatic retractable means fixed to one end portion of said top seat.

[0010]进一步地,所述自动升降机构还包括设置于所述升降台与所述顶座之间的滚珠花键副固定架、固定于所述升降台上的轴套及穿设于所述轴套内的花键杆,所述花键杆的相对两端分别固定在所述滚珠花键副固定架和所述底座上,所述丝杠的第一端转动连接于所述底座上,所述丝杠的与第一端相对的第二端穿过所述丝杠螺母并固定于所述滚珠花键副固定架上。 [0010] Further, the automatic lifting mechanism further comprises a sub-mount a ball spline disposed between the lifting table and the top seat, fixed to the lifting table disposed through the sleeve and the spline shaft within the sleeve, the opposite ends of keybars flowers are fixed to the ball spline sub-mount and the base, a first end rotatably connected to the screw rod on the base, a first end of the lead screw and an opposite second end through the spindle nut and fixed to the ball spline sub key holder.

[0011 ]进一步地,所述驱动机构包括固定于所述底座上的电机、固定连接于所述电机的输出轴的第一同步带轮、固定连接于所述丝杠的第一端上的第二同步带轮及套设于所述第一同步带轮与所述第二同步带轮上的同步带。 [0011] Furthermore, the drive mechanism comprising a motor fixed to the base of the first belt wheel is fixedly connected to the output shaft of the motor, fixedly connected to the threaded end of the first two sets of timing pulleys and a belt disposed on the first belt of the second belt round the wheel.

[0012]进一步地,所述轴套为若干个,若干个所述轴套均匀分布于所述丝杠螺母的周围,对应每个所述轴套安装有所述花键杆。 [0012] Furthermore, the bushing is a plurality of said sleeve, a plurality of uniformly distributed around the lead screw nut, said sleeve is mounted corresponding to each of the spline shaft.

[0013]进一步地,所述自动伸缩机构包括依次转动连接的若干转动关节支座及驱使相邻两个所述转动关节支座相对转动的转动机构,若干所述转动关节支座中的位于首端的转动关节支座固定于所述自动升降机构末端,若干所述转动关节支座中的位于末端的转动关节支座转动连接于所述RCM机构的首端。 [0013] Further, the automatic rotation of the telescopic mechanism comprises a plurality of sequentially connected revolute joint support and rotational drive means adjacent two of said joint carrier relative rotation, said plurality of pivotal joints at the head of the support revolute joint end of the abutment fixed to the end of automatic lifting mechanism, the plurality of rotational joints located at the ends of the joint bearing holder is rotatably connected to the head end of the RCM mechanism.

[0014]进一步地,所述RCM机构包括与所述自动伸缩机构的末端转动连接的首端基座、末端进给基座及左右对称设置的四个连杆组,该四个连杆组与所述首端基座、所述末端进给基座共同组合成两个转动连接的平行四边形机构,所述首端基座内部安装有电机,所述电机驱动其中一个平行四边形机构转动。 [0014] Furthermore, the RCM comprises a mechanism with the end of the automatic rotation of the telescopic mechanism connected to the first end of the base, the end of the feed base and a four linkage groups symmetrically disposed, the linkage with the four the first end of the base, the base end of the common feed composition two parallelogram mechanism is rotatably connected to the head end of the base is mounted inside the motor, wherein said motor driving rotation of a parallelogram mechanism.

[0015]进一步地,所述自动末端调节机构包括固定于所述RCM机构末端的导轨、滑动安装于所述导轨上的滑套、固定于所述滑套上的丝杠螺母件、连接于所述导轨相对两端的两个立板、转动连接于两个所述立板之间且啮合于所述丝杠螺母件上的丝杠、驱动所述丝杠转动以带动所述丝杠螺母件移动的第一驱动机构、固定于所述丝杠螺母件上的支座、转动安装于所述支座上的旋转台、固定连接于所述旋转台上的鼻内镜夹及驱动所述旋转台转动的第二驱动机构。 [0015] Further, the automatic adjustment means comprises a tip fixed to an end of the rail RCM means, slidably mounted on the sleeve on the guide rail, fixed to the sleeve member of the spindle nut is connected to the two upright guide plates of said opposite ends, between two rotatably connected to the riser and engaged with the threaded nut on the threaded member, drive the lead screw to drive rotation of the lead screw nut member moves a first driving mechanism, is fixed to the support member on the spindle nut, rotatably mounted on the rotary table on said support, fixedly connected to the turntable endoscopic clip and driving the turntable second rotation driving mechanism.

[0016]进一步地,所述第一驱动机构包括第一电机、固定于所述第一电机的输出轴上的第一同步带轮、固定于所述丝杠上的第二同步带轮及套设于所述第一同步带轮与所述第二同步带轮上的第一同步带;所述第二驱动机构包括固定于所述支座上的第二电机、固定于所述第二电机的输出轴上的第三同步带轮、固定于所述支座上的第四同步带轮及套设于所述第三同步带轮与所述第四同步带轮上的第二同步带。 [0016] Further, the first drive means comprises a first motor, an output shaft of the first motor is fixed to a first belt wheel, fixed to the second belt round the threaded sleeve, and disposed on the first belt and the first belt wheel on the second timing belt pulleys; the second drive means comprises a motor fixed to the second abutment on the fixed to the second motor the third output shaft a toothed pulley, fixed to the fourth timing pulleys and sleeved on the seat belt of the second belt round the fourth on the third wheel and the belt.

[0017] 进一步地,所述导轨适配器包括U形架,该U形架包括相互平行的两个侧轨及连接于两个所述侧轨之间的横轨,所述导轨适配器还包括可滑动安装于两个所述侧轨上且固定连接于所述手术床的边沿上的第一滑块及可滑动安装于所述横轨上的第二滑块,所述第一滑块与所述第二滑块于滑至预定位置时通过在两个垂直方向上的固定而分别固定于所述侧轨与所述横轨上,所述自动升降机构的底端固定于所述第二滑块上。 [0017] Further, the guide adapter comprises a U-shaped frame, the frame comprises a U-shaped cross rail between the two side rails parallel to each other and connected to said two side rails, said adapter further comprises a guide rail slidably mounted on the two side rails and fixedly connected to the first slide on the edge of the operating bed and slidably mounted on said cross slide on second rail, said first and said slider when the slider is slid in a second predetermined position are fixed to the upper rail and fixed to the cross rail by means of two perpendicular directions, the bottom end of the automatic lifting mechanism is fixed to the second slider on.

[0018]本发明在分析了现有手术模式以及现存技术存在的不足之处的基础上提出一款随动式鼻内镜手术辅助机器人。 [0018] The present invention is analyzed, and the operation mode and the existing shortcomings of the existing technologies present a follower type robot assisted endoscopic surgery. 该随动式鼻内镜手术辅助机器人在手术中代替医生把持鼻内镜,并跟随手术器械进行适时适度调整,使得手术视野自动、稳定的呈现在医生面前,解放医生的左手,变单手操作为双手操作,解决手术中出现的画面晃动问题,还能将机器人动作稳定、定位准确、结构紧凑、安全可靠的优点与手术医生的经验结合起来,从而改善手术质量,降低医生的劳动强度,减少并发症。 The type endoscopic sinus surgery follow-assisted robotic surgery instead of a doctor holding a nasal endoscopy, surgical instruments and follow conduct timely and appropriate adjustments so that the surgical field automatically, stable in front of the doctor, the doctor's left hand liberation, to single-handed operation two-hand operation, the picture appears in surgery to solve the problem shaking, but also the robot motion is stable, accurate positioning, compact, safe and reliable combined with the experience of the surgeon, thereby improving the quality of surgery, doctors reduce labor intensity, reduce complication.

附图说明 BRIEF DESCRIPTION

[0019]图1是本发明实施例提供的随动式鼻内镜手术辅助机器人处于使用中的结构示意图。 [0019] FIG. 1 is a follower type robot assisted endoscopic sinus surgery according to an embodiment of the present invention in use in a structural diagram.

[0020]图2是图1的随动式鼻内镜手术辅助机器人的局部放大图。 [0020] FIG. 2 is a partially enlarged view of a follower type robot assisted endoscopic surgery FIG.

[0021 ]图3是图1的随动式鼻内镜手术辅助机器人的导轨适配器的立体结构图。 [0021] FIG. 3 is a perspective structural view of the adapter rail follower type robot assisted endoscopic surgery FIG.

[0022]图4是图1的随动式鼻内镜手术辅助机器人的自动升降机构的立体结构图。 [0022] FIG. 4 is a perspective configuration diagram of FIG automatic elevating servo mechanism assisted endoscopic surgery robot 1.

[0023]图5是图4的随动式鼻内镜手术辅助机器人的自动升降机构去除外壳后的立体结构图。 [0023] FIG. 5 is a follower type automatic lifting mechanism assisted endoscopic surgery robot of FIG. 4 a perspective view of the structure of the housing removed.

[0024]图6是图1的随动式鼻内镜手术辅助机器人的自动伸缩机构的立体结构图。 [0024] FIG. 6 is a perspective structural view follower nasoendoscope automatic retractable surgical slave robot mechanism 1.

[0025]图7是图1的随动式鼻内镜手术辅助机器人的RCM机构的立体结构图。 [0025] FIG. 7 is a perspective configuration diagram of Formula follower mechanism RCM robot assisted endoscopic surgery FIG.

[0026]图8是图1的随动式鼻内镜手术辅助机器人的自动末端调节机构的立体结构图。 [0026] FIG. 8 is a perspective configuration diagram of an automatic adjustment mechanism with the end of the endoscopic surgery auxiliary movable robot of FIG. 1.

具体实施方式 detailed description

[0027]为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本发明进行进一步详细说明。 [0027] To make the objectives, technical solutions and advantages of the present invention will become more apparent hereinafter in conjunction with the accompanying drawings and embodiments of the present invention will be further described in detail. 应当理解,此处所描述的具体实施例仅仅用以解释本发明,并不用于限定本发明。 It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. 需要说明的是,在说明书中涉及的“第一”、“第二”…等等涉及数量的词均是为了区分各个具有相同功能的部件,并不会对保护范围有所限定。 Incidentally, "first", "second", ... and so directed according to the number of words in the specification are to distinguish individual members having the same function, it has not been defined scope.

[0028]请参阅图1和图2,本发明实施例提供的随动式鼻内镜手术辅助机器人包括可适配于不同手术床105的导轨上的导轨适配器100、连接于所述导轨适配器100上且在垂直于所述手术床105的方向上升降的自动升降机构200、连接于所述自动升降机构200末端且在平行于所述手术床105的平面内伸缩的自动伸缩机构300、连接于所述自动伸缩机构300的末端的二自由度的RCM机构400、连接于所述RCM机构400的末端且带动鼻内镜1进行深度进给及角度补偿的自动末端调节机构500及控制所述自动升降机构200、所述自动伸缩机构300、所述RCM机构400及所述自动末端调节机构500动作的控制器(图未示)。 [0028] Please refer to FIG. 1 and FIG. 2, with the movable robotic assisted endoscopic sinus surgery according to an embodiment of the present invention includes an adapter adapted to guide the rails 105 of different operating table 100, the adapter 100 is connected to the rail the lifting mechanism and the automatic lift in a direction perpendicular to the operating bed 105 is 200, is connected to the automatic lifting mechanism 200 and the end 300, is connected to the automatic telescoping telescopic mechanism parallel to the plane of the operating table 105 automatic two degrees of freedom of the terminal end of the RCM mechanism 300 of the automatic retractable mechanism 400 connected to the end of the RCM 400 and drive mechanism 1 endoscopic infeed depth and angle compensation adjustment mechanism 500 and the automatic control elevating mechanism 200, the automatic retractable mechanism 300, the RCM 400 and the mechanism 500 to automatically adjust the operation of the terminal controller means (not shown).

[0029]本发明在分析了现有手术模式以及现存技术存在的不足之处的基础上提出一款随动式鼻内镜手术辅助机器人。 [0029] The present invention is analyzed, and the operation mode and the existing shortcomings of the existing technologies present a follower type robot assisted endoscopic surgery. 该随动式鼻内镜手术辅助机器人在手术中代替医生把持鼻内镜10,并跟随手术器械进行适时适度调整,使得手术视野自动、稳定的呈现在医生面前,解放医生的左手,变单手操作为双手操作,解决手术中出现的画面晃动问题,还能将机器人动作稳定、定位准确、结构紧凑、安全可靠的优点与手术医生的经验结合起来,从而改善手术质量,降低医生的劳动强度,减少并发症。 The type endoscopic sinus surgery follow-assisted robotic surgery instead of a doctor holding endoscopic sinus 10, and following the surgical instruments were timely and appropriate adjustments so that the operative field automatically, stable in front of the doctor, the doctor's left hand liberation, change with one hand operating as a two-handed operation, surgery appears to solve the screen shaking problem, but also the robot motion is stable, accurate positioning, compact, safe and reliable combined with the experience of the surgeon, thereby improving the quality of surgery, reduce labor intensity of a doctor, reduce complications.

[0030] 导轨适配器100用于将机器人主体牢固地固定在手术床105导轨的合适位置。 [0030] The adapter 100 is used to guide the robot main body is firmly fixed in position 105 operating bed rail.

[0031]自动升降机构200及自动伸缩机构300主要用于术前初始化机器人位置,术中对鼻内镜10进行位置调整,将鼻内镜10末端送到目标手术区域; [0031] 200 and an automatic lifting mechanism automatically retractable mechanism 300 is mainly used to initialize the robot position preoperative, endoscopic sinus surgery to adjust the position 10, the end 10 endoscopic sinus surgery to the target area;

[0032] RCM机构400及自动末端调节机构500主要用于术前初始化机器人姿态和术中调整机器人姿态,以便手术医生能够观察到复杂的鼻腔结构。 [0032] RCM mechanism 400 and the end of the automatic adjustment mechanism 500 is mainly used to initialize the preoperative and intraoperative adjustment of the posture of the robot posture of the robot, so that the operator can visualize the complex nasal structures.

[0033] 请同时参阅图3,所述导轨适配器100包括U形架103,该U形架103包括相互平行的两个侧轨104及连接于两个所述侧轨104之间的横轨106,所述导轨适配器100还包括可滑动安装于两个所述侧轨104上且固定连接于所述手术床105的边沿上的第一滑块101及可滑动安装于所述横轨106上的第二滑块102,所述第一滑块101与所述第二滑块102于滑至预定位置时通过在两个垂直方向上的固定而分别固定于所述侧轨104与所述横轨106上,所述自动升降机构200的底端固定于所述第二滑块102上。 [0033] Referring also to FIG. 3, the adapter 100 includes a U-shaped guide bracket 103, the bracket 103 comprises a U-shaped cross rail 106 between the two mutually parallel side rails 104 and two side rails 104 is connected to the the adapter 100 further includes a guide rail slidably mounted on the two side rails 104 fixedly attached to the operating table and the first edge 105 of the slider 101 and slidably mounted on the cross rail 106 on the second slider 102, the first slider and the second slider 101 fixed in two perpendicular directions and are fixed to the side rail 104 and the cross rail 102 to a predetermined position of the slide 106, the bottom end of the elevating mechanism 200 is automatically fixed to the second slider 102.

[0034]第一滑块101的作用是将U形架103与手术床105两侧的导轨固定连接在一起,手术床105两侧的导轨各有一个第一滑块101。 Effect [0034] The first slider 101 is fixedly connected to the guide rail 103 and the U-shaped frame 105 on both sides of the operating table together, guide rails 105 on both sides of the operating table have a first slider 101. 第一滑块101与手术床105导轨的固定以及第一滑块101与U形架103的固定分别由两组螺钉从手术床105的外侧和导轨的下侧进行固定,即将这种固定方式实现在两个垂直方向上的固定。 The first slider 101 is fixed to the operating table rail 105 and the first slider 101 is fixed to the U-shaped frame 103 are fixed from the outer side and the lower side of the operating table rail 105 by two screws, which is about a fixed manner fixed in two perpendicular directions. 第一滑块101能很好地将U形架103和手术床105导轨固定在一起,保证了机器人基座的稳定性。 The first slider 101 well U-shaped frame 103 and the operating table rail 105 are fixed together to ensure the stability of the robot base. 第二滑块102的作用是将整个机器人与U形架103固连在一起。 The second effect of the entire slide 102 is U-shaped frame with the robot 103 secured together.

[0035] 请同时参阅图4和图5,所述自动升降机构200包括底座204、与所述底座204相对的顶座211、设置于所述底座204与所述顶座211之间的升降台207、固定于所述升降台207上的丝杠螺母212、与所述丝杠螺母212啮合的丝杠205、支撑于所述升降台207与所述顶座211之间的支撑柱210及驱动所述丝杠205转动以带动所述升降台207升降的第一驱动机构,所述自动伸缩机构300的一端部固定于所述顶座211上。 [0035] Referring also to FIGS. 4 and 5, the automatic lift mechanism 200 includes a base 204, 204 and the base 211 opposite the top seat, the lift provided to the base 211 between the base 204 and the top 207, fixed to the lifting spindle nut 207 on the table 212, the spindle nut 205 and screw 212 is engaged, supported on the lifter table 207 and the support column 210 and the drive 211 between the top seat the lead screw 205 is rotated to drive the drive mechanism for elevating the first elevating 207, one end portion of the automatic retractable mechanism 300 is fixed to the top of the seat 211. 单纯通过丝杠205的转动、带动升降台207的上下移动,再通过升降台207上的支撑柱210带动顶座211的上下移动,即可带动自动伸缩机构300上下移动。 Simply by rotating the lead screw 205, moves up and down driven by the lift stations 207, 210 and then drives the vertical movement of the top seat 211 on the table by the lifting of the support column 207 can be automatically moved up and down the telescopic drive mechanism 300.

[0036]为了使自动升降机构200的升降更加平稳、顺畅,所述自动升降机构200还包括设置于所述升降台207与所述顶座211之间的滚珠花键副固定架209、固定于所述升降台207上的轴套208及穿设于所述轴套208内的花键杆206,所述花键杆206的相对两端分别固定在所述滚珠花键副固定架209和所述底座204上,所述丝杠205的第一端转动连接于所述底座204上,所述丝杠205的与第一端相对的第二端穿过所述丝杠螺母212并固定于所述滚珠花键副固定架209上。 [0036] In order to automatically lift the lifting mechanism 200 more stable, smooth, said automatic elevating mechanism 200 further comprises a lifting table disposed on the ball spline 207 and the sub-mount 209 between the top seat 211 fixed to on the lift table 207 and sleeve 208 disposed through the sleeve 206 within spline shaft 208, opposite ends of said flowers key rod 206 are fixed to the ball spline 209 and the sub-mount the above base 204, a first end of the lead screw 205 is rotatably attached to the base 204, the lead screw 205 and a second end opposite the first end 212 and through the spindle nut is fixed to the said upper ball spline sub-mount 209.

[0037] 进一步地,所述轴套208为若干个,若干个所述轴套208均匀分布于所述丝杠螺母212的周围,对应每个所述轴套208安装有所述花键杆206。 [0037] Furthermore, the sleeve 208 is a plurality, the plurality of uniformly distributed around the sleeve 208 of the spindle nut 212, the bushing corresponding to each of the spline shaft 208 is mounted 206 . 在本实施例中,轴套208为三个,花键杆206也为三个。 In the present embodiment, the sleeve 208 is three, the spline rod 206 is also three.

[0038]所述第一驱动机构包括固定于所述底座204上的第一电机201、固定连接于所述第一电机201的输出轴的第一同步带轮202、固定连接于所述丝杠205的第一端上的第二同步带轮203及套设于所述第一同步带轮202与所述第二同步带轮203上的同步带(图未示)。 [0038] The first drive mechanism includes a first motor 201 fixed to the base 204, fixedly connected to the output shaft of the first motor 201 of the first timing belt pulleys 202, fixedly connected to the screw second timing pulleys 203 and sleeved on the first timing belt 202 and timing pulleys on said second belt wheel 203 (not shown) on the first end 205.

[0039]自动升降机构200的底部固定在第二滑块102上。 The bottom of the [0039] automatic lifting mechanism 200 is fixed to the second slider 102. 第一电机201固定在底座204上。 The first motor 201 fixed to the base 204. 第一同步带轮202固定在第一电机201的输出轴上。 A first belt wheel 202 fixed to the output shaft of the first motor 201. 第一同步带轮202与第一电机201的旋转轴不能相对转动。 A first belt wheel 202 and the rotating shaft of the first motor 201 rotationally. 第二同步带轮203固定在丝杠205底部,二者也不能相对转动。 A second synchronous belt pulley 203 fixed to the bottom of the screw 205, the two can not be relatively rotated. 第一同步带轮202与第二同步带轮203之间通过同步带同步转动。 A first synchronous rotation between the timing pulleys 203 and 202 via the second belt round belt. 丝杠205通过滚动轴承安装在底座204上。 Rolling screw 205 mounted on the base 204. 丝杠205的另一端通过滚动轴承安装在滚珠花键副固定架209上。 The other end of the lead screw 205 by a rolling bearing mounted on the sub-mount 209 ball spline. 丝杠螺母212套合在丝杠205上,且固定在升降台207的中间。 Fit 212 on the lead screw 205, and is fixed to the elevating table 207 of the intermediate spindle nut. 三个滚珠花键副均匀地分布在丝杠205的周围。 Three ball spline sub evenly distributed around the screw 205. 其中滚珠花键副的花键杆206的两端分别固定在滚珠花键副固定架209和底座204上。 Wherein both ends of the ball spline shaft spline sub 206 are fixed to the ball spline sub-mount 209 and the base 204. 三个滚珠花键轴套208均匀地固定在升降台207上,且分别套合在三根滚珠花键副的花键杆206上。 Three ball spline hub 208 is fixed uniformly on the elevator table 207, and respectively engaged with the three sets of ball spline shaft spline sub 206. 升降台207可以随滚珠花键轴套208沿滚珠花键副的花键杆206上下运动。 Elevator 207 may vary with the ball spline 208 in the ball spline hub spline sub 206 and down movement of the rod.

[0040]滚珠花键副的作用主要有两点:(I)用来限制升降台207周向运动;(2)对所述自动伸缩机构300、所述RCM机构400及所述自动末端调节机构500三大机构起支撑作用;升降台207上均匀地固定有三根支撑柱210。 [0040] The action of the ball spline pair of main points: (I) for limiting circumferential movement of the lifting base 207 is; (2) the automatic retractable mechanism 300, the RCM 400 and the mechanism of the automatic adjustment mechanism end three mechanisms play a supportive role 500; 207 uniformly on the lifting table has three supporting pins fixed to 210. 支撑柱210的另一端固定在顶座211上。 Another end of the support column 210 of seat 211 is fixed on the top. 第一外壳213和第二外壳214分别固定在底座204和升降台207上。 The first housing 213 and second housing 214 are fixed to the base 204 and elevator 207. [0041 ]自动升降机构200的工作原理如下:第一电机201驱动第一同步带轮202转动。 Working Principle [0041] The automatic lifting mechanism 200 is as follows: first the motor 201 drives the first belt wheel 202 is rotated. 通过同步带将运动传递到第二同步带轮203上。 By a timing belt which transmits the motion to the second timing pulleys 203. 第二同步带轮203带动丝杠205转动,与丝杠205配合的丝杠螺母212带动升降台207沿滚珠花键副的花键杆206上下移动。 The second belt drive wheel 203 rotates the screw 205, the screw 205 with the screw nut 212 to drive the vertical movement of the lift 207,206 along the ball spline shaft spline sub. 顶座211跟随升降台207—起上下移动,从而实现了鼻内镜10在竖直方向上位置的调整。 Top Block 211 follows the movement of the vertical lifts from 207-, enabling adjustment of the position of the nasal endoscope 10 in the vertical direction.

[0042]请同时参阅图6,所述自动伸缩机构300包括依次转动连接的若干转动关节支座30及驱使相邻两个所述转动关节支座30相对转动的转动机构40,若干所述转动关节支座30中的位于首端的转动关节支座30固定于所述自动升降机构200末端,若干所述转动关节支座30中的位于末端的转动关节支座30转动连接于所述RCM机构400的首端。 [0042] Referring to FIG. 6 Meanwhile, the automatic retractable mechanism 300 comprises a plurality of pivotal joints 30 in turn rotatably connected to the support and driving mechanism between two adjacent rotational joints 40 of the support 30 is rotated relative to said plurality of rotation joint support 30 is located revolute joint head end of the support 30 is fixed to the end 200 of the automatic lifting mechanism, located at the ends of said plurality of rotatable support 30 rotating joint in the joint holder 30 is rotatably connected to the mechanism RCM 400 the first end. 若干所述转动关节支座30中的位于首端的转动关节支座30固定于顶座211上。 The plurality of pivotal support joints 30 are located in the head end of the revolute joint 30 is fixed to the top support base 211. 转动关节支座30之间的转动为水平转动。 Rotation of the revolute joint between the horizontal support 30 is rotated.

[0043]所述转动机构40包括第二电机304及连接于第二电机304上的减速器(图未示),减速器的输出端连接于相邻两个转动关节支座30中的下一级转动关节支座30上。 [0043] The rotation mechanism 40 includes a second motor 304, and is connected to a speed reducer (not shown) on a second motor 304, the output of the speed reducer is connected to the adjacent two joints rotatably support a next 30 stage rotating joint 30 on the carrier.

[0044]在本实施例中,自动伸缩机构300包含三个转动关节支座30,分别定义为第一转动关节支座303、第二转动关节支座302、第三转动关节支座301。 [0044] In the present embodiment, the automatic retractable mechanism 300 comprises three support joint 30 is rotated, are respectively defined as a first seat 303 revolute joint, a second seat 302 revolute joint, third joint holder 301 is rotated. 第一转动关节支座303的下方固定在顶座211上。 Below the first revolute joint 303 is fixed to the support base 211 on the top. 第一转动关节支座303的上方固定有第二电机304。 A first revolute joint 303 above the carrier 304 is fixed to a second machine. 第二转动关节支座302的一侧嵌入第一转动关节支座303的凹槽307中且安装在与第二电机304固定的减速器的输出端。 The second recess 307 revolute joint 302 embedded in the first support-side seat 303 revolute joint and mounted at the output of the motor 304 fixed to the second gear unit. 由此可以实现第二电机304驱动第二转动关节支座302转动。 Whereby the second motor 304 may be implemented to drive the second revolute joint holder 302 is rotated. 第三电机305以同样的方式驱动第三转动关节支座301转动。 A third motor 305 is driven in the same manner as the third revolute joint holder 301 is rotated. 除此之外,每个关节设有极限位置光电开关,用于术前回零操作和机器人安全保护。 In addition, each joint has a photoelectric switch limit position, return to zero and robots for security before surgery.

[0045]若干所述转动关节支座30中的位于末端的转动关节支座30 (即第三转动关节支座301)与所述RCM机构400之间连接有第二驱动机构50,第二驱动机构50包括设置于末端的转动关节支座30内的第四电机306。 [0045] Some rotation of the rotary joint 30 located at the ends of the joint bearing support 30 (i.e. the third revolute joint support 301) connected to a second drive mechanism 50 between the RCM 400 and the mechanism, the second drive the rotation mechanism 50 includes a fourth abutment end of the joint 306 in the motor 30. 第四电机306的输出连接于RCM机构400的输入,第四电机306可以驱动RCM机构400整体转动。 Output of the fourth motor 306 is connected to the input means RCM 400, fourth motor 306 may drive mechanism RCM 400 rotated integrally.

[0046]请同时参阅图7,所述RCM机构400包括与所述自动伸缩机构300的末端转动连接的首端基座401、末端进给基座409及左右对称设置的四个连杆组405、406、407、408,该四个连杆组405、406、407、408与所述首端基座401、所述末端进给基座409共同组合成两个转动连接的平行四边形机构,所述首端基座401内部安装有第五电机(图未示),所述第五电机驱动其中一个平行四边形机构转动。 [0046] Referring also to FIG. 7, the RCM mechanism 400 includes a head end 401 and a base end of the automatic retractable mechanism 300 connected to the rotation, four linkage 409 and the base end of the feed symmetrically disposed about 405 , 406 407 408, 405,406,407,408 of the four linkage with the head end of the base 401, the end of the feed base 409 combined together into two of the rotation of the parallelogram mechanism is connected, the inside said head-end base 401 is attached to a fifth motor (not shown), wherein the fifth motor drives a rotation of the parallelogram mechanism.

[0047]远端运动中心(RCM)机构是一种利用少自由度机构实现固定虚拟转动中心的机构。 [0047] The distal end of the center of motion (RCM) mechanism is implemented utilizing less freedom mechanism fixed virtual center of rotation of the mechanism. 该机构广泛应用于微创手术中且能够在一定程度上提高手术的安全性。 The agency is widely used in minimally invasive surgery and can improve the safety of surgery to a certain extent.

[0048]整个RCM机构400采用左右两侧对称设计,中间设计有支撑杆410,用以增强整个机构的刚性。 [0048] The entire mechanism RCM 400 using the left and right symmetrical design, the design of the intermediate support rods 410, to enhance the rigidity of the entire mechanism. 每一个连杆组405、406、407、408包括三个依次转动连接的三个连杆(未标示)。 Each linkage comprises three 405,406,407,408 in turn rotates three links connected (not shown). 该RCM机构400共涉及7组(14个)转动关节411,每个转动关节411均采用双轴承设计,其目的是提高转动关节411的精度。 The RCM 400 involving a total of 7 groups means (14) rotatable joints 411, 411 are each revolute joint dual bearing design, which aims to improve the accuracy of the joint 411 is rotated.

[0049]第五电机与第三同步带轮402通过减速器(图未示)固连在一起。 [0049] Fifth wheel motor and a third timing belt 402 through a speed reducer (not shown) fixedly connected together. 第三同步带轮402与第四同步带轮404之间安装有同步带(图中未示出)。 It is attached to a timing belt (not shown) between the third timing pulleys 402 and 404 of the fourth timing pulleys. 同步带两侧设有张紧装置403,保证了传动的精度和避免打滑现象;由此,可以实现第五电机驱动二自由度RCM机构400,使鼻内镜10绕其中心轴线上一点(固定点)在RCM机构400形成的平面内摆动。 Belt tensioning device 403 is provided on both sides, to ensure accuracy and to avoid the transmission of slipping; Thus, the motor drive can be realized two degree of freedom RCM fifth means 400, so that the nasal endoscope 10 about its central axis a point (fixed point) in the plane of the swing mechanism 400 is formed of RCM. 第四电机306的输出端连接于首端基座401上。 Output of the fourth motor 306 is connected to the first end of the base 401. RCM机构400的左右摆动由第四电机306直接驱动首端基座401实现。 RCM 400 about pivot means 306 by the fourth motor directly drives the first end of the base 401 to achieve.

[0050] 末端的转动关节支座30上与RCM机构400的首端基座401之间通过凸起31与凹槽41的配合来实现转动连接。 The [0050] support the revolute joint end 30 and the head end of the base RCM mechanism 400 is achieved by fitting the projection 31 and the rotary connection 41 between the recess 401.

[0051 ] 请同时参阅图8,所述自动末端调节机构500包括固定于所述RCM机构400末端的导轨502、滑动安装于所述导轨502上的滑套504、固定于所述滑套504上的丝杠螺母件505、连接于所述导轨502相对两端的两个立板51、转动连接于两个所述立板51之间且啮合于所述丝杠螺母件505上的第二丝杠507、驱动所述第二丝杠507转动以带动所述丝杠螺母件505移动的第三驱动机构60、固定于所述丝杠螺母件505上的支座513、转动安装于所述支座513上的旋转台512、固定连接于所述旋转台512上的鼻内镜夹511及驱动所述旋转台512转动的第四驱动机构70 ο所述旋转台512的旋转轴线为所述鼻内镜1的轴线方向。 [0051] Referring also to FIG. 8, the end of the automatic adjustment mechanism 500 includes a fixed end 400 to the RCM guide mechanism 502, the slide sleeve 502 mounted on the guide rail 504 fixed to the upper sleeve 504 the screw nut 505, the guide rail 502 is connected to the opposite ends of the two vertical plates 51, rotatably connected to the vertical plates and two second engaging screw nut on the threaded member 505 between the 51 507, the second drive screw 507 is rotated to drive the third drive mechanism 60 to move the spindle nut 505, 513 fixed to the support member on the spindle nut 505, rotatably mounted to said support 512 on the turntable 513, fixedly connected to the rotary drive mechanism fourth endoscopic clip 511 on the stage 512 and drives the turntable 512 to rotate the rotation axis 70 ο table 512 for the intranasal a mirror in the axial direction.

[0052]进一步地,所述第三驱动机构60包括第六电机506、固定于所述第六电机506的输出轴上的第五同步带轮508、固定于所述第二丝杠507上的第六同步带轮509及套设于所述第五同步带轮508与所述第六同步带轮509上的第一同步带(图未示);所述第四驱动机构70包括固定于所述支座513上的第七电机503、固定于所述第七电机503的输出轴上的第七同步带轮501、固定于所述支座513上的第八同步带轮514及套设于所述第七同步带轮501与所述第八同步带轮514上的第二同步带(图未示)。 [0052] Further, the third drive mechanism 60 includes a sixth motor 506 is fixed to the output shaft of the motor 506 of the fifth sixth timing belt pulleys 508 fixed to the second lead screw 507 a sixth timing belt pulleys 509 and timing belt cover disposed on the fifth wheel 508 of the first timing belt (not shown) on the sixth timing belt pulleys 509; the fourth driving mechanism 70 includes a fixed to the said seventh motor 503 on the support 513 fixed to the timing belt pulleys seventh seventh motor 501 output shaft 503 fixed to the support on the eighth timing pulleys 514 and 513 provided in the sleeve the seventh and eighth timing belt wheel 501 on the belt of the second belt wheel 514 (not shown).

[0053]自动末端调节机构500可以实现绕鼻内镜10自身轴线旋转角度补偿及末端进给。 [0053] Automatic adjustment mechanism 500 may be implemented tip about the axis of rotation Endoscopic angle compensator 10 and the end of the feed itself. 鼻内镜10固定在鼻内镜夹511上,鼻内镜夹511与旋转台512通过螺钉固定在一起。 Endoscopic endoscope 10 is fixed on the nose-clip 511, Endoscopic clip 511 and the turntable 512 are secured together by screws. 旋转台512可旋转地连接在鼻内镜支座513上。 The rotary table 512 is rotatably connected to the support 513 Endoscopic. 第七电机503固定在鼻内镜支座513的一侧。 A seventh side 513 of the motor 503 fixed to the support endoscopic sinus. 所述第七电机503的输出端安装有第七同步带轮501。 The seventh output of the motor 503 is attached to a seventh timing pulleys 501. 第七同步带轮501与第八同步带轮514通过同步带(图中未示出)连接在一起。 The seventh and eighth timing belt pulleys 501 timing pulleys 514 are connected together by a timing belt (not shown). 第八同步带轮514固定在旋转台512上,二者不能相对转动。 The eighth belt wheel 514 is fixed on the rotating table 512, both rotationally. 由此可以实现第七电机503驱动鼻内镜10绕自身轴线转动。 503 can be achieved thereby driving the seventh motor Endoscopic 10 rotates about its own axis.

[0054] 第六电机506与导轨502固定在同一支座513上。 [0054] 506 and the sixth motor 502 fixed to the guide rail 513 on the same carrier. 导轨滑套504可沿导轨502滑动。 Guide sleeve 504 can be slid along the guide rail 502. 丝杠螺母件505固定在导轨滑套504上。 Screw nut 505 fixed to sleeve 504 on the guide rail. 第二丝杠507穿过丝杠螺母件505,两端通过轴承固定在所述支座513上。 The second lead screw 507 through the screw nut 505, both ends through bearings 513 secured to the carrier. 第五同步带轮508与第六同步带轮509分别固定在第六电机506的输出端和第二丝杠507的上端,二者通过同步带传动。 A fifth timing belt pulleys 508 and the sixth timing pulleys 509 are respectively fixed to the upper end of the output terminal of the sixth motor 506 and the second lead screw 507, through both the belt drive. 丝杠螺母件505与鼻内镜支座513固连在一起。 Screw nut 505 and the bearing 513 fixed Endoscopic together. 由此第六电机506可以驱动第五同步带轮508、第六同步带轮509和第二丝杠507转动。 Whereby the sixth motor 506 may drive the fifth belt wheel 508, a sixth timing belt pulleys 509 and the second lead screw 507 rotates. 丝杠螺母件505带动鼻内镜10沿导轨502方向移动,从而实现鼻内镜10末端的深度进给。 Driven spindle nut 505 along the rails 502 Endoscopic direction 10, 10 in order to achieve the end of Endoscopic depth infeed.

[0055]本发明的机器人经过理论分析、三维建模仿真分析和实物样机验证,证明可行。 Robot [0055] The theoretical analysis of the present invention, a three-dimensional prototype modeling and physical simulation verification, proved feasible. 本发明的机器人主要用于鼻内镜10手术,也可以用于其他内窥镜或者器械的夹持操作。 The robot of the present invention is mainly used for 10 endoscopic sinus surgery, it may also be used for gripping the endoscope or other instrument operations.

[0056]以上所述仅为本发明的较佳实施例而已,并不用以限制本发明,凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本发明的保护范围之内。 [0056] The foregoing is only preferred embodiments of the present invention but are not intended to limit the present invention, any modifications within the spirit and principle of the present invention, equivalent substitutions and improvements should be included in the present within the scope of the invention.

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Classifications
International ClassificationA61B17/94, A61B34/30, A61B17/24
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