CN102462533B - Mechanical arm for clamping propelling mechanism of minimally invasive blood vessel interventional surgery - Google Patents
Mechanical arm for clamping propelling mechanism of minimally invasive blood vessel interventional surgery Download PDFInfo
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- CN102462533B CN102462533B CN201010540511.4A CN201010540511A CN102462533B CN 102462533 B CN102462533 B CN 102462533B CN 201010540511 A CN201010540511 A CN 201010540511A CN 102462533 B CN102462533 B CN 102462533B
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Abstract
The invention discloses a mechanical arm for clamping a propelling mechanism of a minimally invasive blood vessel interventional surgery. The mechanical arm comprises a base arm connected with a big arm base through a waist rotating joint; the internal part of the base arm is mounted with a power mechanism and a transmission mechanism; the big arm base can rotate on the base arm; the big arm base is connected with one end of a first big arm through a big arm joint; the other end of the first big arm is connected with a small arm through a small arm joint; one end of the small arm is connected with one end of a second big arm which is parallel with the first big arm; the other end of the small arm is connected with a hand connecting piece and is connected with a terminal end base through a wrist swinging joint; and the terminal end base is connected with a terminal end sleeve through a wrist rotating joint. The mechanical arm for clamping the propelling mechanism of the minimally invasive blood vessel interventional surgery disclosed by the invention improves automation degree of the surgery, surgical precision and surgical stability. The big arm joint and the small arm joint of the mechanical arm for clamping the propelling mechanism of the minimally invasive blood vessel interventional surgery disclosed by the invention not only have small structural sizes, but also realize large-torque transmission.
Description
Technical field
The present invention relates to a kind of mechanical arm for robot, particularly clamp the mechanical arm of minimally-invasive vascular intervene operation propulsive mechanism.
Background technology
Blood vessel intervention operation refers to that doctor is under the guiding of digital subtraction angiography imaging (DSA) system, control conduit (a kind of flexible pipe with rigidity) moves in human vas, conduit is advanced to target location, then focus is carried out to associated treatment, reach the objects such as thromboembolism deformity blood vessel, thrombus, expansion narrow blood vessel.Compare with traditional operation, this method is without operating on, and has the advantages such as the insufficiency of blood of going out, wound are little, few intercurrent disease, safe and reliable, post-operative recovery is fast.
The key step that doctor carries out blood vessel intervention operation is at present as shown in Fig. 1 a-1f:
A, puncture needle be according in applicable pose transdermal intravasation, and seal wire is inserted to needle tubing;
B, vagina vasorum is sent into blood vessel along seal wire and under it supports, conduit is imported to blood vessel along vagina vasorum, slowly push ahead.The effect that when vagina vasorum plays guide catheter intravasation and prevents conduit extraction blood vessel, arterial blood flows out;
C, doctor, under the guiding of DSA image, observe the path of conduit and the position of tip, and handmade rotary and propulsion bulb, adjust its position and direction, until conduit arrives lesions position;
D, perform the operation 1: under DSA picture control, implement conduit diagnosis and treatment operation, in ventricular septal defect place holding chamber septal defect blocking device;
E, perform the operation 2: under DSA picture control, in stricture of artery place placing rack;
F, perform the operation 3: under DSA picture control, row aneurysm GDC thromboembolism.
According to above-mentioned surgical procedure, the outstanding problem that blood vessel intervention operation exists is:
1) doctor works all the time under high intensity rays environment, and long period of operation is very large to physical impairment;
2) operation technique poor controllability, the time is long, and the factors such as doctor's fatigue and staff fluctuation of service are impact operation quality directly;
3) operation technique is complicated, and craftsmenship is strong, and risk is high, and doctor is difficult to grasp, and the surgery training time is long.
For the problems referred to above, robotics is incorporated in blood vessel intervention operation, have important practical significance.
If Fig. 2 is the image guided lower robot assisted blood vessel intervention operation system construction drawing of DSA:
Each unit major function is described below:
Operating table in operating room: surgery systems is carried out to blood vessel 3 D reconstructing under overall control, Finite rotation DSA projection condition and process, and carry out the coupling of two dimensional image in preoperative 3-D view and art, complete the image-guidance of robot and surgery planning, and in art, auxiliary robot is controlled in real time.This operating board and the isolation of patient treatment operating room, so can avoid doctor to be subject to the radiation of ray.
Multifunctional surgical bed: patient lies on this operation table, there is supporting with it contrast machine that contrast agent is pushed in patient body, by the operation of the auxiliary facilities such as C shape arm, can on DSA image display, know and show patient vessel, and can show in real time the position of propelling propulsion bulb in patient vessel.Meanwhile, on multi-purpose bed, to paste corresponding sign Mark point, so that patient position, DSA image, binocular image, robot are carried out to the demarcation of coordinate system.
Binocular camera shooting head: the positional information that observation patient, operation table, end propulsive mechanism Mark are ordered, and it is carried out to image processing, thus determine patient's lesions position, instruct auxiliary robot to treat patient.
Robot body: controlled by operating table in operating room, the data motion by planning, realizes the treatment to patient's lesions position.Auxiliary machinery human body controls robot by location and end propulsive mechanism forms.Location is controlled after robot delivers to assigned address according to layout data end propulsive mechanism and is controlled.End propulsive mechanism moves in patient body according to DSA image guiding propulsion bulb.
As can be seen here, the robot body in system structure needs a kind of for clamping the mechanical arm of blood vessel intervention operation propulsive mechanism.
Summary of the invention
For above-mentioned technical problem of the prior art, the object of the present invention is to provide a kind of mechanical arm for blood vessel intervention operation propulsive mechanism, realized firmly the controlling of accurate location, flexible planning and operating theater instruments of robot, thereby improved operation precision and stability, avoided doctor to be subject to long-time radiation.The present invention also aims to have the medical robot of above-mentioned mechanical arm.
The present invention realizes by the following technical solutions.
A mechanical arm, is characterized in that, comprises
Base arm, it turns joint by waist and is connected with large arm base, and actuating unit and drive mechanism are equipped with in inside, and described large arm base can rotate in described base arm;
Described large arm base is connected with one end of first arm by large-arm joint; The other end of described first arm is connected with forearm by little shoulder joint; One end of described forearm is connected in one end of the second largest arm parallel with described first arm;
The other end of described forearm is connected with hand connector, and by wrist, puts joint and be connected with end seat; Described end seat is connected with endsocket by wrist joint.
Mechanical arm according to technique scheme, is characterized in that, described actuating unit is electric machine assembly, and described drive mechanism is harmonic speed reducer;
Motor fixing seat, deep groove ball bearing, harmonic speed reducer steel wheel and bearing wedge are installed in described base arm, in its bottom, are useful on fixing connection screwed hole;
The input of the reducer output shaft of described electric machine assembly and harmonic wave power shaft is fastening by holding screw; Harmonic wave axle is connected with the waveform generator of harmonic speed reducer by key; The input of harmonic wave power shaft is made corrugated tube pattern; The output steel wheel of harmonic speed reducer connects fastening with harmonic wave axle by soket head cap screw; Harmonic wave axle relies on deep groove ball bearing to be supported in base arm, between bearing, by bearing inner race back-up ring and bearing outer ring back-up ring, locates; Electric machine assembly drives its decelerator motion carrying, thereby makes harmonic wave power shaft drive harmonic speed reducer to rotate, and then drives the motion of harmonic wave axle; Harmonic wave axle connects with large arm base by the key on it, and like this, electric machine assembly will drive large arm base motion while rotating, thereby realizes the rotation that waist turns joint
Mechanical arm according to technique scheme, is characterized in that, described large-arm joint is slider-crank mechanism; Wherein, on described large arm base, be connected with pivotly large arm connecting rod, the other end of described large arm connecting rod can translation on described first arm, thereby realizes the swing of described first arm.
Mechanical arm according to technique scheme, is characterized in that, described little shoulder joint is that crank block drives parallel-crank mechanism; Wherein, be connected with pivotly forearm connecting rod on described forearm, the other end of described forearm connecting rod can translation on the second largest arm parallel with described first arm, thereby realizes the swing of described forearm.
Mechanical arm according to technique scheme, is characterized in that, the translation end of described large arm connecting rod and described forearm connecting rod passes through respectively lead screw transmission.
Mechanical arm according to technique scheme, is characterized in that, described hand connector and forearm be connected the connected mode that adopts screw rod, stop washer, nut, motor support base is connected with hand connector by screw, in order to fixing wrist pendulum motor assembly; Whole end seat fixes by semiaxis-driving side part and semiaxis-afterbody part, and these two parts are connected with hand connector by bearing; Wrist pendulum motor assembly outfan is connected with semiaxis-driving side part by sleeve, compression plug screw; During the work of wrist pendulum motor assembly, drive semiaxis-driving side part to rotate, thereby realize the driving in wrist pendulum joint.
Mechanical arm according to technique scheme, is characterized in that, described end seat one end is connected by bolt, stop washer, nut with semiaxis-driving side, semiaxis-afterbody; The other end is arranged on endsocket by bearing, relies on bearing inner shield ring, the outer back-up ring of bearing, circlip for shaft location between two bearings; Wrist rotating motor assembly is connected with the end of end seat by screw; On endsocket, have the interface that connects propulsive mechanism, the front end of endsocket is connected by sleeve with end gland, has clamping nut on end cap, when wrist rotating motor assembly is worked, can drive endsocket to rotate, thereby realizes the rotation of wrist joint.
A medical robot, has at least 5DOF, it is characterized in that, has the mechanical arm according to one of technique scheme.
Compared with prior art, the present invention has realized the technique effect of following benefit:
(1) first robot positioning system is applied in intervene operation, has improved the automaticity of operation, avoided doctor under radiation environment, to work for a long time.
(2) use mechanical arm to replace doctor realize the location of operating theater instruments and control, improved operation precision and stability, reduced working doctor difficulty and intensity.
(3) the guilde screw driven Design of large arm and little shoulder joint, not only mechanism size is little, and has realized high-torque transmission.
Accompanying drawing explanation
Fig. 1 is the key step schematic diagram of blood vessel intervention operation;
Fig. 2 is the image guided lower robot assisted blood vessel intervention operation system construction drawing of DSA;
Fig. 3 is the robot body illustraton of model of having applied mechanical arm of the present invention;
Fig. 4 is robot architecture's sketch of having applied mechanical arm of the present invention;
Fig. 5 is that the waist of mechanical arm of the present invention turns articulation structure figure;
Fig. 6 is large arm, the forearm articulation structure figure of mechanical arm of the present invention;
Fig. 6 a is the cross section view of the transmission nut of mechanical arm of the present invention and the junction of forearm connecting rod
Fig. 6 b is two forearms of mechanical arm of the present invention cross section views to the junction of side plate and support bar;
Fig. 7 a, 7b are the cross section views in joint in Fig. 4;
Fig. 8 a, 8b, 8c, 8d are wrist pendulum, the wrist joint structure charts of mechanical arm of the present invention.
Wherein each Reference numeral implication is as follows:
1. base arm
2. end motor cabinet
3. harmonic wave power shaft
4. shaft shoulder pad
5. harmonic wave axle
6. bearing outer ring back-up ring
7. bearing inner race back-up ring
8. bearing wedge
9. round nut
10.6202 deep groove ball bearings
11. keys
12. harmonic speed reducers
13. hexagon socket cap head screws
14.6201 deep groove ball bearings
15. holding screws
16 soket head cap screws
17. slotted countersunk flat head screws
18. electric machine assemblies (decelerator, motor, brake, encoder)
19. large arm base
20. hinge pin under large arm
21. band andgudgeon pin cushion cover
22.6008 deep groove ball bearings
23.6202 deep groove ball bearings
24. forearm is to side plate
25. support tubes
26. short hinge pin cushion cover
27. hinge pin axles
28.6202 deep groove ball bearings
29. bearing (ball) covers
30. circlips for shaft
31. slotted countersunk flat head screws
32. the large short free bearing of arm
33. flower covers
34. fillister head screws
35. screw rod slotted sleeve
36.6004 deep groove ball bearings
37. large arm turn-screw
38. transmission nuts
39. screw rod fastening shaft sleeves
40. soket head cap screws
Adapter sleeve between 41 punchings
42. holding screws
43. slotted countersunk flat head screws
44. motor installation discs
45. sunk screws
46. fillister head screws
47. electric machine assemblies
48. large brachium free bearing
49. forearm connecting rods
50. large arm connecting rod
51. circlips for shaft
52. large pads
53. connecting rod nut bearing pins
54. soket head cap screws
55. support bars
56. forearms
57. hand connectors
58. motor support bases
59. semiaxis-driving side
60. sleeves
61. compress plug screw (mother)
62. semiaxis-afterbody
63. end seats
64. endsockets
65. the outer back-up ring of bearing
66. bearing inner shield rings
67. end caps
68. clamping nuts
69. sunk screws
70. circlips for shaft
71. deep groove ball bearings
72. wrist rotating motor assembly
73. deep groove ball bearings
74. sunk screws
75. soket head cap screws
76. soket head cap screws
77. wrist pendulum motor assembly
78. soket head cap screws
The specific embodiment
For the surgical robot towards Minimally Invasive Surgery, its structure is comprised of wrist and arm two parts conventionally, and the effect in Minimally Invasive Surgery is: (1) navigates to point of puncture by wrist end and operating theater instruments; (2) directed to operating theater instruments, make it pass point of contact and arrive operative site.Location is mainly used in the operation incipient stage after point of contact produces, and operating theater instruments is directed, make it pass the overall process that whole operation is but run through at point of contact, these two tasks are not identical at motion mode and the application in operation, therefore a rational design should complete this two tasks, and can reduce or eliminate arm joint and wrist joint interdepending at the volley.In order to reach this purpose, detent mechanism should adopt separated structure with attitude reference device, makes it independent in motion.
By analyzing doctor's operating process and various operation constraints, consider practical requirement, simplify the internal structure of an organization and reduce control difficulty, designed the mechanical arm with five degree of freedom.Concrete structure as shown in Figure 3.
Each joint detailed design:
1. waist turns joint designs
Waist joint structure as shown in Figure 5.Motor fixing seat, deep groove ball bearing, harmonic speed reducer steel wheel and bearing wedge etc. are installed in base arm, in its bottom, are useful on fixing connection screwed hole.
The input of the reducer output shaft of electric machine assembly and harmonic wave power shaft is fastening by holding screw.Harmonic wave axle is connected with the waveform generator of harmonic speed reducer by key.The input of harmonic wave power shaft is made corrugated tube pattern, and in the situation that base arm working axiality is slightly low, electric machine assembly still can run well.The output steel wheel of harmonic speed reducer connects fastening with harmonic wave axle by soket head cap screw.And harmonic wave axle relies on deep groove ball bearing to be supported in base arm, between bearing, by bearing inner race back-up ring and bearing outer ring back-up ring, locate.Power source (motor) drives its decelerator motion carrying, thereby makes harmonic wave power shaft drive harmonic speed reducer to rotate, and then drives the motion of harmonic wave axle.Harmonic wave axle connects by the base in the key on it and two, three joints.Like this, during electric machine rotation, will drive the base motion in two, three joints, thereby realize the rotation that waist turns joint.
2. large arm, forearm joint designs
The torque maximum that large arm, forearm rotary joint bear, if adopt waist to turn the scheme in joint, the size of harmonic speed reducer is larger, maximum possible is to more than 200mm, and obviously, so large scale is not beautiful in appearance, and due under power failure state, can not holding position, therefore, adopt said structure obviously improper.On the other hand, if adopt Worm Wheel System, although solved self-locking problem, the problem that physical dimension is large still can not solve, obviously infeasible.Through consulting related data, after carrying out synthesis of mechanism and optimizing relatively, adopt lead screw transmission version, from structure, solved the problem of large torque output.
Large arm, forearm articulation structure are as shown in Fig. 6, Fig. 6 a and Fig. 6 b.
Large arm base is diarticular holder for this reason, by self keyway, connects with the output shaft in 1 joint, and large arm connecting rod, large arm are connected with arm base greatly by deep groove ball bearing and hinge pin, formation crank block structure.Large arm is comprised of installations such as the short free bearing of large arm, flower cover, large arm connector, large brachium free bearings.
Large arm concrete structure: large brachium free bearing is connected with two forearm connecting plates with large arm base by deep groove ball bearing, pin, can freely rotate around pin center.With screw, be connected with intermediate connecting sleeve cylinder thereon, the effect of intermediate connecting sleeve cylinder is fixed electrical machinery mounting disc, to realize installation and the location of power source (servomotor).The other end of intermediate connecting sleeve cylinder is connected with screw with screw rod slotted sleeve.Because slotted sleeve arm is thinner, guarantee again its connection and support strength, therefore increase a screw rod fastening shaft sleeve at connecting portion.Slotted sleeve inside is provided with large arm turn-screw, and locate with deep groove ball bearing at two ends, and transmission nut is installed on leading screw.Transmission nut is connected with large arm connecting rod or forearm connecting rod by circlip for shaft, large pad, connecting rod nut bearing pin.Transmission nut relies on the fluting of slotted sleeve to realize directed movement.The other end of slotted sleeve is connected with the large short free bearing of arm with screw.Motor is connected with leading screw by decelerator.Because large arm is the assembly of numerous parts, due to the restriction of processing and assembled condition, cannot guarantee the centering of leading screw and motor reducer output shaft.Therefore, turn-screw and driving motor linkage section are made bellows structure form.In the situation that centering is not so good, still can guarantee the reliability service of this drive mechanism like this.Like this, can drive leading screw to rotate, thereby make nut directed movement during electric machine rotation, the utilization of nut can cause the rotation of connecting rod again, and then realizes the motion in whole joint.
Two large arm configurations form identical, and installation site is contrary.The large arm end in outside is connected side plate with forearm by pin, deep groove ball bearing, realizes tetragon drive mechanism.In order to prevent the distortion of forearm to side plate, guarantee the plane motion of two large arms, two forearms are connected by soket head cap screw, support bar in the middle of side plate, thereby have increased the rigidity of forearm to side plate.Forearm is connected with two large arms and large arm connecting rod, realizes the rotation around joints axes.Forearm end leaves installing hole, can put joint with wrist and be connected.
3. wrist pendulum, wrist joint design
Wrist pendulum, wrist rotation structure design as shown in Fig. 8 a, 8b, 8c, 8d.
Wrist pendulum joint, by hand connector, is connected with forearm.Because end load is heavier, and adopt the bonding strength of screw connecting mode not high, therefore the connected mode that is connected employing screw rod, stop washer, nut of hand connector and forearm.Motor support base is connected with hand connector by screw, in order to fixed conveyor electric machine assembly.Whole end seat fixes by semiaxis-driving side part and semiaxis-afterbody part, and these two parts are connected with hand connector by bearing.Electric machine assembly outfan is connected with semiaxis-driving side part by sleeve, compression plug screw (mother).During electric machine assembly work, drive semiaxis-driving side part to rotate, thereby realize the driving in wrist pendulum joint.
Wrist joint structural design is similar to wrist pendulum joint designs.End seat one end is connected by bolt, stop washer, nut with semiaxis-driving side, semiaxis-afterbody; The other end is arranged on endsocket by bearing, relies on bearing inner shield ring, the outer back-up ring of bearing, circlip for shaft location between two bearings.Electric machine assembly is connected with the end of end seat by screw.On endsocket, have the interface that connects propulsive mechanism, the front end of endsocket is connected by sleeve with end gland, has clamping nut on end cap.So just realized being connected of electric machine assembly output shaft and endsocket, sleeve, clamping nut.When electric machine assembly is worked, can drive endsocket to rotate, thereby realize the rotation of wrist joint.
Above-described embodiment, the present invention specific embodiment a kind of more preferably just, the common variation that those skilled in the art carries out within the scope of technical solution of the present invention and replacing all should be included in protection scope of the present invention.
Claims (5)
1. a mechanical arm that clamps minimally-invasive vascular intervene operation propulsive mechanism, is characterized in that, comprises
Base arm, it turns joint by waist and is connected with large arm base, and actuating unit and drive mechanism are equipped with in inside, and described large arm base can rotate in described base arm;
Described large arm base is connected to one end of side plate with one end, the forearm of first arm by large-arm joint; The other end of described first arm is connected with forearm by little shoulder joint: one end of described forearm is connected in one end of the second largest arm parallel with described first arm; The other end of described second largest arm is connected to the other end of side plate with described forearm, to realize tetragon drive mechanism; Two large arm configuration composition is identical, installation site is contrary;
The other end of described forearm is connected with hand connector, and by wrist, puts joint and be connected with end seat; Described end seat is connected with endsocket by wrist joint;
Described actuating unit is electric machine assembly, and described drive mechanism is harmonic speed reducer;
Motor fixing seat, deep groove ball bearing, harmonic speed reducer steel wheel and bearing wedge are installed in described base arm, in its bottom, are useful on fixing connection screwed hole:
The input of the reducer output shaft of described electric machine assembly and harmonic wave power shaft is fastening by holding screw; Harmonic wave axle is connected with the waveform generator of harmonic speed reducer by key: the input of harmonic wave power shaft is made corrugated tube pattern; The output steel wheel of harmonic speed reducer connects fastening with harmonic wave axle by soket head cap screw; Harmonic wave axle relies on deep groove ball bearing to be supported in base arm, between bearing, by bearing inner race back-up ring and bearing outer ring back-up ring, locates; Electric machine assembly drives its decelerator motion carrying, thereby makes harmonic wave power shaft drive harmonic speed reducer to rotate, and then drives the motion of harmonic wave axle; Harmonic wave axle connects with large arm base by the key on it, and like this, electric machine assembly will drive large arm base motion while rotating, thereby realizes the rotation that waist turns joint:
Described large-arm joint is slider-crank mechanism; Wherein, on described large arm base, be connected with pivotly large arm connecting rod, the other end of described large arm connecting rod can translation on described first arm, thereby realizes the swing of described first arm:
Described little shoulder joint is that crank block drives parallel-crank mechanism; Wherein, be connected with pivotly forearm connecting rod on described forearm, the other end of described forearm connecting rod can translation on the second largest arm parallel with described first arm, thereby realizes the swing of described forearm.
2. mechanical arm according to claim 1, is characterized in that, the translation end of described large arm connecting rod and described forearm connecting rod passes through respectively lead screw transmission.
3. mechanical arm according to claim 1, is characterized in that, described hand connector and forearm be connected the connected mode that adopts screw rod, stop washer, nut, motor support base is connected with hand connector by screw, in order to fixing wrist pendulum motor assembly; Whole end seat fixes by semiaxis-driving side part and semiaxis-afterbody part, and these two parts are connected with hand connector by bearing; Wrist pendulum motor assembly outfan is connected with semiaxis-driving side part by sleeve, compression plug screw: during the work of wrist pendulum motor assembly, drive semiaxis-driving side part to rotate, thereby realize the driving in wrist pendulum joint.
4. mechanical arm according to claim 1, is characterized in that, described end seat one end is connected by bolt, stop washer, nut with semiaxis-driving side, semiaxis-afterbody; The other end is arranged on endsocket by bearing, between two bearings, rely on bearing inner shield ring, the outer back-up ring of bearing, circlip for shaft location: wrist rotating motor assembly is connected with the end of end seat by screw: on endsocket, have the interface that connects propulsive mechanism, the front end of endsocket is connected by sleeve with end gland, on end cap, there is clamping nut, when wrist rotating motor assembly is worked, can drive endsocket to rotate, thereby realize the rotation of wrist joint.
5. a medical robot, has at least 5DOF, it is characterized in that, has according to the mechanical arm one of claim 1-4 Suo Shu.
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| CN201010540511.4A CN102462533B (en) | 2010-11-11 | 2010-11-11 | Mechanical arm for clamping propelling mechanism of minimally invasive blood vessel interventional surgery |
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| DE102012112716A1 (en) * | 2012-12-20 | 2014-06-26 | MAQUET GmbH | Medical support arm |
| DE102012112712A1 (en) | 2012-12-20 | 2014-06-26 | MAQUET GmbH | instrument support |
| CN106476264A (en) * | 2015-12-28 | 2017-03-08 | 北方工业大学 | Three-axis movement device for 3D printing |
| CN105411680B (en) * | 2015-12-30 | 2018-07-17 | 重庆金山科技（集团）有限公司 | A kind of operating robot and its mechanical arm |
| CN109602494B (en) * | 2018-12-19 | 2023-10-31 | 浙江伏尔特医疗器械股份有限公司 | Multi-degree-of-freedom self-locking mechanical arm |
| CN111452070A (en) * | 2020-04-29 | 2020-07-28 | 博雅工道（北京）机器人科技有限公司 | Electric mechanical arm |
| CN114795461B (en) * | 2022-05-24 | 2024-04-09 | 河北工业大学 | Semi-automatic mechanical arm for adjusting pose of vascular intervention robot and assisting blood vessel intervention robot |
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