Parallel mechanism capable of performing spatial apocenter movement

A space telecentric and telecentric point technology, applied in the field of medical robots, can solve the problems of affecting the quality of abdominal surgical incisions, large and complex series mechanism, poor surgical cutting effect, etc., to reduce motion interference, compact and simple structure, and restore hand and eye. The effect of coordination

Active Publication Date: 2015-07-22
HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a parallel mechanism that can realize the movement of the remote point in space, so as to solve the problem that the serial robot is used to realize the movement of the remote point centered on the incision in abdominal surgery because the series mechanism is huge and complex, and the anti-interference ability is weak , so that the effect of the completed surgical cut is not good, which affects the quality of the abdominal surgery incision

Method used

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  • Parallel mechanism capable of performing spatial apocenter movement
  • Parallel mechanism capable of performing spatial apocenter movement
  • Parallel mechanism capable of performing spatial apocenter movement

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specific Embodiment approach 1

[0033] Specific implementation mode one: combine figure 1 and Figure 5 Describe this embodiment, in this embodiment it comprises base 1, moving platform 7, apparatus 10, one group of UPR motion branch chains and two groups of UPRR motion branch chains, and described base 1 is an annular base, and described moving platform 7 is located directly above the base 1, and the instrument 10 is connected to the moving platform 7 through the annular base. There are three installation shaft holes evenly distributed on the base 1, and the axes of the three installation shaft holes meet at a point on the center line of the base. O, O point is the motion telecentric point;

[0034] A set of UPR motion branch chains includes a central swing link 8, a first rotating pair 5-1, a first telescopic link 3-1 and a first U pair 2-1, and one end of the central swing link 8 is fixedly connected to the moving platform 7, the other end of the central swing rod 8 is connected to the upper end of the ...

specific Embodiment approach 2

[0039] Specific implementation mode two: combination figure 2 and Figure 6 This embodiment is described. In this embodiment, a parallel mechanism that can realize the movement of the remote point in space is characterized in that it includes a base 1, a moving platform 7, an apparatus 10, and three sets of UPRR motion branch chains. The base 1 is an annular base, the moving platform 7 is located directly above the base 1, the instrument 10 passes through the annular base and is connected to the moving platform 7, three mounting shaft holes are evenly distributed on the base 1, and the three mounting shaft holes The axes meet at a point O on the center line of the base, and the point O is the far center point of the movement;

[0040] Each group of UPRR motion branch chains includes a swing link 11, a third turning pair 5-3, a second turning pair 5-2, a telescopic link 3 and a U pair 2, and one end of the swing link 11 passes through the third turning pair 5 -3 is connected...

specific Embodiment approach 3

[0043] Specific implementation mode three: combination image 3 and Figure 7 Describe this embodiment, in this embodiment it comprises base 1, moving platform 7, apparatus 10, one group of UPR motion branch chains and two groups of UPRR motion branch chains, and described base 1 is an annular base, and described moving platform 7 is located directly below the base 1. The instrument 10 is connected to the bottom end of the moving platform 7. There are three mounting shaft holes evenly distributed on the base 1. The axes of the three mounting shaft holes meet at a point O on the center line of the base. Point O is the motion telecentric point;

[0044] A set of UPR motion branch chains includes a central swing link 8, a first rotating pair 5-1, a first telescopic link 3-1 and a first U pair 2-1, and one end of the central swing link 8 is fixedly connected to the moving platform 7, the other end of the central swing rod 8 is connected to the lower end of the first telescopic r...

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Abstract

The invention discloses a parallel mechanism capable of performing spatial apocenter movement and relates to a parallel mechanism, aiming at solving the problem that when the apocenter movement with an incision as the center is performed through a serial robot during an abdominal cavity operation, as a serial mechanism is large, complex and relative weak in anti-interference capability, the incision effect of the finished operation is subpar and the incision quality of the abdominal cavity operation is affected. The parallel mechanism comprises a base, a movable platform, instruments, a set of UPR moving branch chains and two or three sets of UPRR moving branch chains, wherein four technical schemes are generated through the change of the relative position between the base and the movable platform and the change of the connection relationship between a central sway rod and the movable platform, the base is annular; the movable platform is arranged right above or below the base and the instruments are connected with the movable base. The parallel mechanism has the advantages that the structure is smart and simple, the movement interference can be reduced and the movement precision is high; the mechanism can be used in clinical operations.

Description

technical field [0001] The invention specifically relates to a parallel mechanism capable of realizing movement of a telecentric point in space, and belongs to the field of medical robots. Background technique [0002] The parallel mechanism refers to the closed-loop mechanism that the moving platform and the fixed platform are connected in parallel through two or more independent kinematic chains, have two or more degrees of freedom, and are driven in parallel. It has the characteristics of strong bearing capacity, compact structure, large stiffness-to-weight ratio, small cumulative error of kinematic pairs, high kinematic precision, good dynamic performance, and easy feedback control. Today, the application of parallel mechanisms is expanding, mainly including parallel machine tools, industrial robots, medical robots, astronomical telescopes, aerospace docking and other fields. Nowadays, parallel mechanism has a wide range of applications in machinery. In the course of m...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 于洪健杜志江董为张镇川
Owner HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIP CO LTD
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